Marine photovoltaic platform hoisting device and control system thereof

Abstract

The application discloses a marine photovoltaic platform hoisting device and a control system thereof and belongs to the field of marine photovoltaic construction equipment. The device comprises a hoisting system, a platform system, a walking system and a control system. The platform system is provided with an octagonal first platform, a second platform and four telescopic supporting legs. The supporting legs are adjusted in inclination by expansion oil cylinders and are connected with the walking system trolley ball hinge at the lower end. The trolley is of a caterpillar type and is internally provided with openable and closable clamping blocks and supporting plates, so that the trolley can pass through between dense pile foundations and turn in place. The telescopic supporting legs can be adapted to the tidal water level, so that the working platform is higher than the sea surface and the pile top, and the exposed and water-contacting components are all of corrosion-proof and waterproof structures. The control system collects data such as postures, displacements and water levels through various sensors and controls the cooperative actions of various actuators through computer operation. The application can adapt to the water-land alternating environment of the intertidal zone, stably work on the soft seabed and efficiently hoist in safety.

Description

Technical Field

[0001] This invention belongs to the field of marine photovoltaic equipment construction technology, specifically relating to a marine photovoltaic platform hoisting device and its control system. Background Technology

[0002] Offshore photovoltaic (PV) projects are widely deployed in my country's coastal and shallow tidal flat areas, with PV platforms often employing multi-piled foundation support structures. However, existing offshore PV platform installation and construction suffers from the following technical deficiencies: First, the near-shallow sea has a significant tidal range, with the intertidal zone submerged at high tide and exposed at low tide, resulting in large dynamic changes in the operating water depth. Traditional large lifting vessels cannot enter the site for operation, and conventional lifting equipment cannot adapt to the alternating land and water operation environment, resulting in poor construction adaptability.

[0003] Secondly, in order to increase the installed capacity in the sea area, the offshore photovoltaic pile foundations are densely arranged and the spacing between piles is small. The existing hoisting equipment has a fixed shape and a large turning radius, which makes it impossible to move and turn flexibly inside the dense pile foundation array, resulting in poor construction accessibility.

[0004] Third, the seabed soil near the coast is soft and has low bearing capacity. Conventional hoisting equipment has a high ground pressure, which can easily lead to settlement and tilting during operation. In addition, the high salt spray and tidal erosion environment at sea can cause equipment to be easily corroded and damaged, making it difficult to guarantee the stability and safety of hoisting operations.

[0005] In summary, existing hoisting equipment is difficult to adapt to the complex offshore construction scenarios of shallow intertidal zones, soft seabeds, and dense pile foundation arrays. There is an urgent need for a dedicated offshore photovoltaic hoisting device and supporting control system that is highly adaptable, flexible in movement, and stable in operation. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a hoisting device and control system for offshore photovoltaic platforms, solving the technical problems of existing equipment being unable to adapt to alternating sea and land operating environments, difficulties in navigating dense pile foundations, easy subsidence on soft seabeds, and poor adaptability to offshore working conditions, thereby enabling safe, efficient, and flexible hoisting and construction of offshore photovoltaic platforms.

[0007] To achieve the above objectives, the present invention adopts the following technical solution.

[0008] A lifting device for an offshore photovoltaic platform includes a lifting system, a platform system, and a traveling system. The lifting system is installed on the upper part of the platform system. The platform system includes a first platform, a first column, a second platform, and four outriggers. The first platform, the first column, and the second platform are rigidly connected to each other. The first platform has an octagonal structure, and the outriggers are hinged to the four symmetrical sides of the first platform. The lower ends of the outriggers are telescopic structures. The upper part of the second platform is rigidly equipped with four extension cylinders, and the telescopic ends of the four extension cylinders are hinged to the four outriggers one by one. The traveling system includes four trolleys, and the four trolleys are ball-jointed to the telescopic ends of the four outriggers one by one. The exposed structures and water-touching components of the lifting system, platform system, and traveling system are all equipped with marine anti-corrosion and waterproof protection structures.

[0009] Furthermore, the hoisting system includes a turntable, a control room, a boom, and a counterweight; the turntable is rotatably connected to the first platform via bearings, the control room and boom are fixedly installed on the upper part of the turntable, and the counterweight is eccentrically arranged relative to the bearings; the turntable can drive the control room, boom, and counterweight to rotate as a whole; the bearing portion of the turntable is equipped with a waterproof and dustproof sealing ring, the metal surfaces of the boom and counterweight are coated with a marine anti-corrosion coating, and the control room is a sealed and waterproof structure.

[0010] Furthermore, the outrigger is a telescopic hydraulic outrigger, and the extension cylinder is used to adjust the tilt angle between the outrigger and the first platform; the telescopic cylinder of the outrigger and the telescopic rod of the extension cylinder are both covered with telescopic waterproof and dustproof protective sleeves, and the cylinder valve body and base are all treated with anti-corrosion sealing.

[0011] Furthermore, the trolley includes an outer frame, a ball joint seat, a ball joint, a locking block, a support plate, and a second column; the ball joint is fixedly connected to the telescopic end of the outrigger, the ball joint is matched and assembled with the ball joint seat, the bottom surface of the ball joint seat is a square structure, the ball joint seat is rigidly connected to the support plate through a second column with a square cross-section, the cross-sectional dimension of the second column is smaller than the bottom surface dimension of the ball joint seat; the bottom plate of the outer frame has a rectangular opening through which the second column and the ball joint seat can pass, and the side plate of the outer frame has a moving outlet for the locking block.

[0012] Furthermore, two locking blocks are provided, each with a U-shaped cross-section. The two locking blocks are symmetrically slidably assembled on the inner side of the outer frame. When the two locking blocks are closed, they splice together to form a square opening that fits the corresponding second column, thus supporting the ball joint seat in a high position. When the two locking blocks are separated, the ball joint seat can fall to the base plate. Each locking block has a connecting plate fixedly connected to both ends on its outer side. The inner walls of both sides of the side plate are symmetrically provided with mounting grooves. The connecting plate is slidably connected to the inner side of the mounting groove. A double-rod hydraulic cylinder is provided in the mounting groove. The two telescopic ends of the double-rod hydraulic cylinder are respectively fixedly connected to L-shaped push-pull rods. The end of each push-pull rod away from the double-rod hydraulic cylinder is fixedly connected to the connecting plate located on the same side.

[0013] Furthermore, the trolley adopts a tracked walking structure, and each track is equipped with an independent hydraulic motor; the hydraulic motor, ball joint, and double rod cylinder are all equipped with waterproof sealing protective covers on the outside, and the tracks, outer frame, second column, and support plate are all coated with a marine heavy-duty anti-corrosion coating.

[0014] Furthermore, the hydraulic motors on both sides can coordinate through speed difference and steering difference to enable the trolley to move straight, turn sideways, or turn in place by relying on the ball joint fulcrum.

[0015] Furthermore, the four extension cylinders and the four outriggers are synchronously telescopic, and each set of extension cylinders and each set of outriggers can be independently telescopically adjusted.

[0016] Furthermore, the four trolleys are arranged in pairs on both sides of the pile foundation, and the spacing between the trolleys is adapted to the spacing of the pile foundation array.

[0017] This invention also provides a control system for an offshore photovoltaic platform hoisting device, applied to the aforementioned offshore photovoltaic platform hoisting device. The control system includes a computer, decision-making software, sensing and monitoring components, and electronic control execution components. The sensing and monitoring components include a horizontal sensor, an angle displacement sensor, a rangefinder, a displacement sensor, a weight sensor, and an amplitude sensor. The horizontal sensor is installed on the upper surface of the first platform. Five angle displacement sensors are provided, one of which is installed above the turntable bearing shaft, and the remaining four are installed one-to-one inside the four ball joints. Four rangefinders are provided, each installed on the side of the second platform. The displacement sensors are respectively installed at the extension cylinder, the outrigger extension end, and the trolley block drive cylinder. The decision-making software is integrated into the computer, and the computer is electrically connected to the decision-making software, all sensors, and the electronic control execution components. All sensors, electronic control components, and wiring parts are equipped with a waterproof sealing structure and a salt spray corrosion-resistant protective layer, and the wiring ports are waterproof potted.

[0018] The beneficial effects of this invention are: 1. Adaptable to intertidal operating environments with alternating land and sea conditions. This invention allows for dynamic adjustment of the overall height of the equipment via the telescopic outriggers, ensuring the operating platform remains above sea level and mitigating the risk of submersion during high tide. All hydraulic, electrical, and exposed steel structures are equipped with comprehensive waterproof, corrosion-resistant, and sealed protective structures, effectively resisting seawater immersion, salt spray corrosion, and tidal erosion, thus solving the problem of traditional equipment being unable to adapt to alternating land and sea operations in shallow intertidal zones.

[0019] 2. Adaptable to construction in confined spaces with dense pile foundations. This invention can adjust the outrigger tilt angle by extending the hydraulic cylinder and dynamically adjust the four-wheel walking distance to adapt to different pile foundation array arrangements; at the same time, the trolley can achieve zero-radius turning on the spot by relying on the ball joint, and with the two-group cross-pile walking structure, it can flexibly travel and turn in the gaps between dense pile foundations, solving the problems of limited passage and insufficient turning space of traditional hoisting equipment.

[0020] 3. Improve the stability of operations on soft seabeds. This invention features a switchable high-position walking and low-position support structure. By opening and closing the locking blocks, the equipment's load-bearing mode can be switched. During hoisting operations, the support plate is placed on the ground to assist in bearing the load, significantly reducing the unit ground pressure on the seabed, effectively suppressing the settlement of soft seabeds, ensuring the overall stability of the equipment, and improving the safety of hoisting operations.

[0021] 4. Flexible attitude adjustment and strong lifting stability. This invention supports synchronous adjustment of four sets of outriggers and extended hydraulic cylinders, as well as independent adjustment of each set. Combined with the position adjustment of the eccentric counterweight of the turntable, it can dynamically optimize the anti-overturning moment of the equipment. With the multi-dimensional sensor monitoring and intelligent decision control system, it can achieve precise control of the equipment attitude and adapt to the lifting needs of different lifting weights and different marine working conditions.

[0022] 5. High degree of structural integration and automation. The dedicated control system integrates multi-dimensional monitoring modules and intelligent decision-making modules, which can collect working condition data in real time and autonomously calculate and control various actuators, replacing traditional manual experience-based operations. This significantly improves operational accuracy and construction efficiency, making it suitable for large-scale offshore photovoltaic installation construction. Attached Figure Description

[0023] Figure 1 This is the front view of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a front view of the walking system of the present invention; Figure 4 This is a three-dimensional structural diagram of the walking system of the present invention. Figure 5 This is a schematic diagram of the split structure of the walking system of the present invention; Figure 6 This is a flowchart of the control system of the present invention.

[0024] The attached figures are labeled as follows: 1 Lifting System, 2 Platform System, 3 Traveling System, 101 Turntable, 102 Control Room, 103 Boom, 104 Counterweight, 105 Bearing, 201 First Platform, 202 First Column, 203 Second Platform, 204 Outrigger, 205 Extending Cylinder, 301 Outer Frame, 3011 Base Plate, 3012 Rectangular Opening, 3013 Side Plate, 3014 Moving Exit, 3015 Mounting Slot, 302 Ball Joint Seat, 303 Ball Joint, 304 Locking Block, 305 Support Plate, 306 Second Column, 307 Connecting Plate, 308 Double-Extend Rod Cylinder, 309 Push-Pull Rod, 310 Track. Detailed Implementation

[0025] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they should not be construed as limitations on this invention.

[0027] This embodiment is based on the actual working conditions of an offshore photovoltaic construction project. The construction area is a typical near-shallow intertidal zone, significantly affected by tides. The low tide level ranges from 0m to 1.5m, and the high tide level ranges from 3m to 5m, creating a complex working environment with alternating wet and dry conditions. The horizontal projection size of the photovoltaic platform to be hoisted in this project is 30m × 21m, and it adopts a double-pile foundation support structure. The piles on site are arranged in a grid array, with an east-west pile spacing of 16m and a north-south pile spacing of 24m. The pile diameter is 1.0m, and the pile height above the seabed is 7.2m. The overall pile arrangement is dense, the working space between piles is limited, and the seabed soil is soft, which places high demands on the mobility of the hoisting equipment, its adaptability to the terrain, and its load-bearing stability.

[0028] Based on the aforementioned actual construction conditions, this embodiment provides a hoisting device and its control system for an offshore photovoltaic platform. The overall structure includes a hoisting system 1, a platform system 2, and a traveling system 3. The hoisting system 1 is fixedly assembled on the upper part of the platform system 2, and the traveling system 3 is assembled at the four corners of the bottom of the platform system 2. Together with the control system, it enables intelligent hoisting operations for the offshore photovoltaic platform. To adapt to the on-site pile foundation layout dimensions, water level changes, and the need for passage between piles, the overall dimensions of the equipment are optimized for adaptability, meeting the requirements for crossing pile foundations, adapting to tide levels, and traveling in confined spaces.

[0029] Platform System 2 is the main load-bearing structure of this device, including a first platform 201, a first column 202, a second platform 203, and four outriggers 204. The first platform 201, first column 202, and second platform 203 are rigidly welded together to ensure overall structural strength and load-bearing stability. The first platform 201 is a symmetrical octagonal structure, with outriggers 204 hinged to its four symmetrical sides. The outriggers 204 employ a hydraulic telescopic structure, allowing for vertical height adjustment. Four extension cylinders 205 are fixedly installed on the upper end of the second platform 203. Each of the four extension cylinders 205 is hinged to one of the four outriggers 204. The telescopic movement of the extension cylinders 205 drives the outriggers 204 to deflect relative to the first platform 201, achieving dynamic adjustment of the bottom support spacing. All exposed structures and water-contact components of the hoisting system 1, platform system 2, and traveling system 3 are equipped with marine corrosion-resistant and waterproof protective structures, adaptable to high-salt-spray and seawater immersion environments at sea.

[0030] The hoisting system 1, serving as the hoisting operation execution structure, includes a turntable 101, a control room 102, a boom 103, and a counterweight 104. The turntable 101 is rotatably mounted to the first platform 201 via bearings 105, allowing for 360-degree rotation. The control room 102 and boom 103 are fixedly installed on the upper part of the turntable 101. The counterweight 104 is eccentrically arranged relative to the bearings 105; rotating the turntable 101 adjusts the eccentric position of the counterweight, changing the overall anti-overturning moment of the equipment. Waterproof and dustproof sealing rings are installed at the bearings 105. The surfaces of the boom 103 and counterweight 104 are coated with a marine heavy-duty anti-corrosion coating. The control room 102 adopts a fully sealed waterproof structure, effectively preventing seawater and salt spray from corroding internal electrical components.

[0031] Outrigger 204 adopts a telescopic hydraulic structure, adaptable to on-site conditions with a pile height of 7.2m and high tide water levels of 3m to 5m. The total length of a single outrigger 204 is set at 7m, with a maximum extension of 4m for the built-in hydraulic cylinder, allowing for a wide range of adjustments to the overall equipment height. Vertical telescopic adjustment is used to adjust the overall working height and levelness of the equipment, ensuring that the second platform 203 is always higher than the top of the 7.2m pile foundation. It also adapts to high tide water levels of 5m, ensuring that the first platform 201 and control room 102 are always above sea level, preventing equipment submersion. Lateral telescopic extension cylinder 205 is used to adjust the tilt angle of outrigger 204. Both the telescopic cylinders of outrigger 204 and extension cylinder 205 are fitted with telescopic waterproof and dustproof protective sleeves. The cylinder valve bodies and bases are treated with anti-corrosion sealing to prevent mud and sand blockage and seawater corrosion, ensuring hydraulic adjustment accuracy and service life. The four extension cylinders 205 can extend and retract synchronously or individually, and the four outriggers 204 can lift and lower synchronously or independently, meeting the needs of various working conditions such as overall equipment leveling, unilateral posture fine adjustment, and pile crossing.

[0032] The walking system 3 consists of four independent trolleys, each connected to one of the four outriggers 204 via ball joints at their bottom ends. The trolleys travel in pairs, straddling both sides of the pile foundation, adapting to the dense pile array spacing of 16m east-west and 24m north-south on site. To accommodate the narrow passage space between piles, the trolleys adopt a compact structural design. The outer frame 301 of each trolley is 3.6m in length and width, the track 310 is 1m wide, and the overall outer contour of the trolley is optimized to 6m × 5m, perfectly matching the passage width between piles on site. The bottom plate of the outer frame 301 is 0.6m above the ground, and the top surface of the ball joint 303 is installed at a height of 2m, ensuring no interference from piles or scratches from mud during trolley movement. The trolley specifically includes the outer frame 301, ball joint seat 302, ball joint 303, locking block 304, support plate 305, and second column 306. The ball joint 303 is fixed to the telescopic end of the outrigger 204. The ball joint 303 and the ball joint seat 302 are matched and rotated together to achieve multi-directional adaptive steering of the trolley. The bottom surface of the ball joint seat 302 is a square structure. The bottom of the ball joint seat 302 is rigidly fixed to the support plate 305 through a second column 306 with a square cross-section. The cross-sectional dimension of the second column 306 is smaller than the bottom surface dimension of the ball joint seat 302. The outer frame 301 is provided with a base plate 3011 and a side plate 3013. The base plate 3011 has a rectangular opening 3012 for the second column 306 to pass through. The side plate 3013 has a moving outlet 3014 for the telescopic sliding of the locking block 304.

[0033] Two locking blocks 304 are symmetrically slidably assembled inside the outer frame 301, with a concave cross-section. When the two locking blocks 304 are closed, they interlock to form a square through hole, through which the second column 306 passes and supports the ball joint seat 302 in a high position, allowing the equipment to move along the track 310. When the two locking blocks 304 are separated, the support and restriction on the ball joint seat 302 are released, allowing the ball joint seat 302 to fall with the second column 306 to the base plate 3011, so that the support plate 305 can be placed on the ground for support. Each locking block 304 has a connecting plate 307 fixed at both ends, and the inner wall of the side plate 3013 has symmetrically opened mounting grooves 3015, in which the connecting plate 307 is slidably assembled. A double-rod hydraulic cylinder 308 is fixedly installed in the mounting slot 3015. L-shaped push-pull rods 309 are fixed to the telescopic ends of the double-rod hydraulic cylinder 308. The other end of the push-pull rod 309 is fixedly connected to the connecting plate 307 on the same side. By extending and retracting the double-rod hydraulic cylinder 308, the opening and closing actions of the two side locking blocks 304 are driven synchronously, realizing the rapid switching of the trolley's carrying mode.

[0034] The trolley uses a tracked 310 walking structure, with each track 310 independently driven by a hydraulic motor. By controlling the speed and steering difference between the two hydraulic motors, the trolley can move straight and laterally, and can also perform zero-radius turning on the spot using the ball joint 303 pivot point, making it suitable for confined working spaces with dense pile foundations. The hydraulic motors, ball joints 303, and double-rod cylinders 308 are all equipped with waterproof and sealed protective covers. The tracks 310, outer frame 301, second column 306, and support plate 305 are all coated with a marine heavy-duty anti-corrosion coating to improve the equipment's durability at sea.

[0035] This device is equipped with a dedicated control system, which consists of a computer, decision-making software, sensor monitoring components, and electronic control execution components. The sensor monitoring components include a horizontal sensor, angular displacement sensors, a rangefinder, a displacement sensor, a weight sensor, and an amplitude sensor. The horizontal sensor is installed on the upper surface of the first platform 201 to monitor the platform's horizontal attitude in real time. One of the five angular displacement sensors is installed above the bearing shaft of the turntable 101, and the other four are correspondingly installed inside the four ball joints 303 to monitor the turntable's rotation angle and the three-dimensional attitude of the ball joints. Four rangefinders are installed on the side of the second platform 203 to detect water level, pile foundation position, and pile top elevation. The displacement sensors are respectively mounted at the extension cylinder 205, the telescopic end of the outrigger 204, and the position of the double-rod cylinder 308 to collect real-time cylinder telescopic displacement data.

[0036] The decision-making software is integrated into the computer, which is electrically connected to all sensors and electronic control components. It can receive various monitoring data in real time and output control commands through built-in computing logic to coordinate the operation of various hydraulic mechanisms, traveling mechanisms, and hoisting mechanisms. All sensors, electronic control components, and wiring parts are equipped with waterproof sealing structures and salt spray corrosion-resistant protective layers. The wiring ports are treated with waterproof potting to ensure stable operation of the electrical system in the humid and high-salt spray environment at sea.

[0037] In actual operation, this device can complete posture adjustment, cross-pile movement, in-situ turning, foundation bearing switching, overall leveling and hoisting operations through the coordinated action of various mechanisms. The specific working principle and construction process are as follows.

[0038] After the equipment is in place, its attitude is pre-adjusted based on the spacing of the pile foundations and the real-time water level. By controlling the extension cylinder 205 to extend and retract, the tilt angle of each outrigger 204 is adjusted to match the spacing of the pile group on site, and the lateral spacing of the four trolleys is adjusted to ensure that the equipment can move smoothly between the dense pile foundations. At the same time, by synchronously extending and retracting the four outriggers 204, the overall height of the equipment is raised or lowered, so that the overall height of the second platform 203 is higher than the top of the pile foundations on site, and the first platform 201 is always kept above sea level, effectively avoiding the problems of the equipment being submerged by seawater during high tide and the pile foundations interfering with the walking path, adapting to the intertidal sea-land alternating operation environment.

[0039] When the equipment moves and operates in a dense pile cluster, it utilizes a compact trolley structure designed to adapt to the working conditions. The four trolleys are arranged in pairs, straddling both sides of the pile foundation, adapting to the pile grid spacing of 16m east-west and 24m north-south. Each trolley moves in coordination via its independent tracks 310 and hydraulic motors. By controlling the speed and steering difference of the hydraulic motors on both sides of the trolley, the equipment can move straight and make slight lateral corrections. When a change of direction is required in the narrow space between piles, the outriggers 204 and the extended hydraulic cylinders 205 can be locked. Using the ball joint 303 as a pivot point, and coordinating with the opposite rotation of the hydraulic motors on both sides at the same speed, the trolley can achieve zero-radius turning on the spot, eliminating the need for the turning radius of traditional equipment and perfectly adapting to the narrow construction space of dense pile arrays.

[0040] For the working conditions of soft seabed with low bearing capacity and easy subsidence in nearshore areas, this device can reliably switch between walking mode and support bearing mode. In the normal walking state, the double-outlet cylinder 308 drives the push-pull rod 309 to close the two side locking blocks 304. The locking blocks 304 are spliced ​​to form a square opening and support the ball joint seat 302, so that the ball joint seat 302, the second column 306, and the support plate 305 are suspended in the air. The overall load of the equipment is borne by the crawler 310, which meets the requirements of continuous walking. When fixed-point hoisting operations are required, one set of outriggers can be adjusted individually while the other three sets of outriggers are locked. The turntable 101 is rotated to drive the counterweight block 104 to shift eccentrically, transferring the center of gravity of the counterweight to the opposite side of the operation, ensuring the overall stability of the single-sided adjustment process. Then, the hydraulic cylinder of the outrigger 204 is slightly retracted, causing the ball joint seat 302 to move slightly upward. Then, the double-rod hydraulic cylinder 308 drives the two side locking blocks 304 to separate, opening the downward passage of the ball joint seat 302. The hydraulic cylinder of the outrigger 204 is extended again, causing the ball joint seat 302 and the second column 306 to fall as a whole, and the support plate 305 to fit against the seabed. Finally, the track 310 and the support plate 305 share the load, greatly reducing the unit ground pressure and effectively avoiding the problems of soft seabed subsidence and equipment tilting. After the support plates 305 of the four trolleys are placed on the ground in sequence, all the extension cylinders 205 are locked. By finely adjusting the extension and retraction of each outrigger 204 individually, and in conjunction with the data from the level sensor on the upper part of the first platform 201, the overall leveling of the equipment is completed, providing a stable working foundation for the hoisting operation.

[0041] The device's integrated control system participates in the entire operation and control process. During construction, various sensors collect real-time data on parameters such as the horizontal attitude of the first platform 201, the rotation angle of the turntable 101, the three-dimensional rotation angle of the ball joint 303, the extension and retraction displacement of each hydraulic cylinder, seawater level, pile position and pile top height, lifting weight, and boom amplitude. This real-time data is transmitted to a computer equipped with decision-making software. The computer performs calculations and analysis through its built-in decision logic. Based on preset parameter thresholds and real-time operating conditions, it automatically outputs corresponding actuator action commands, coordinating the control of actions such as the extension cylinder 205, outrigger 204 extension and retraction, trolley travel and steering, locking block 304 opening and closing, and turntable 101 rotation. This achieves automated control of the equipment's attitude self-adjustment, dense pile crossing movement, precise positioning, and stable lifting. Simultaneously, all water-exposed mechanical structures and electrical components are equipped with waterproof, sealed, and corrosion-resistant protective structures, enabling long-term adaptation to the harsh operating environment of high salt spray, tidal erosion, and alternating wet and dry conditions at sea, ensuring stable equipment operation and construction safety.

Claims

1. A hoisting device for an offshore photovoltaic platform, characterized in that, It includes a hoisting system (1), a platform system (2), and a traveling system (3); The hoisting system (1) is installed on the upper part of the platform system (2); the platform system (2) includes a first platform (201), a first column (202), a second platform (203) and four support legs (204). The first platform (201), the first column (202) and the second platform (203) are rigidly connected to each other. The first platform (201) has an octagonal structure. The four symmetrical sides of the first platform (201) are respectively hinged to the support legs (204). The lower end of the support legs (204) is a telescopic structure. The upper end of the second platform (203) is rigidly provided with four extension cylinders (205). The telescopic ends of the four extension cylinders (205) are hinged to the four support legs (204) one by one. The walking system (3) includes four trolleys, and the four trolleys are connected to the telescopic ends of the four outriggers (204) by ball joints (303) in a one-to-one correspondence. The exposed structures and water-contact components of the hoisting system (1), platform system (2), and walking system (3) are all equipped with marine anti-corrosion and waterproof protection structures.

2. The offshore photovoltaic platform hoisting device according to claim 1, characterized in that, The hoisting system (1) includes a turntable (101), a control room (102), a boom (103), and a counterweight (104). The turntable (101) is rotatably connected to the first platform (201) via a bearing (105). The control room (102) and the boom (103) are fixedly installed on the upper part of the turntable (101). The counterweight (104) is eccentrically arranged relative to the bearing (105). The turntable (101) can drive the control room (102), the boom (103), and the counterweight (104) to rotate as a whole. The bearing (105) of the turntable (101) is provided with a waterproof sealing and dustproof ring. The metal surfaces of the boom (103) and the counterweight (104) are coated with a marine anti-corrosion coating. The control room (102) is a sealed and waterproof structure.

3. The offshore photovoltaic platform hoisting device according to claim 1, characterized in that, The outrigger (204) is a telescopic hydraulic outrigger. The extension cylinder (205) is used to adjust the tilt angle between the outrigger (204) and the first platform (201). The telescopic cylinder of the outrigger (204) and the telescopic rod of the extension cylinder (205) are both covered with telescopic waterproof and dustproof protective sleeves. The cylinder valve body and base are all treated with anti-corrosion sealing.

4. The offshore photovoltaic platform hoisting device according to claim 1, characterized in that, The trolley includes an outer frame (301), a ball joint seat (302), a ball joint (303), a locking block (304), a support plate (305), and a second column (306). The ball joint (303) is fixedly connected to the telescopic end of the support leg (204). The ball joint (303) is matched and assembled with the ball joint seat (302). The bottom surface of the ball joint seat (302) is a square structure. The ball joint seat (302) is rigidly connected to the support plate (305) through the second column (306) with a square cross-section. The cross-sectional dimension of the second column (306) is smaller than the bottom surface dimension of the ball joint seat (302). The bottom plate (3011) of the outer frame (301) has a rectangular opening (3012) through which the second column (306) and the ball joint seat (302) can pass. The side plate (3013) of the outer frame (301) has a moving outlet (3014) for the locking block (304).

5. The offshore photovoltaic platform hoisting device according to claim 4, characterized in that, Two locking blocks (304) are provided, and the cross-section is U-shaped. The two locking blocks (304) are symmetrically slidably assembled on the inner side of the outer frame (301). When the two locking blocks (304) are closed, they are spliced ​​to form a square opening that fits the second column (306) to support the ball joint seat (302) in a high position. When the two locking blocks (304) are separated, the ball joint seat can fall to the bottom plate (3011). Each of the card blocks (304) has a connecting plate (307) fixedly connected to both ends of its outer side. The inner walls of the side plates (3013) are symmetrically provided with mounting grooves (3015). The connecting plate (307) is slidably connected to the inner side of the mounting groove (3015). A double rod cylinder (308) is provided in the mounting groove (3015). The two telescopic ends of the double rod cylinder (308) are respectively fixedly connected with L-shaped push-pull rods (309). The end of each push-pull rod (309) away from the double rod cylinder (308) is fixedly connected to the connecting plate (307) located on the same side.

6. The offshore photovoltaic platform hoisting device according to claim 4, characterized in that, The trolley adopts a track (310) walking structure, and each track (310) is equipped with an independent hydraulic motor; the hydraulic motor, ball joint (303), and double rod cylinder (308) are all equipped with waterproof sealing protective covers on the outside, and the tracks (310), outer frame (301), second column (306) and support plate (305) are all coated with marine heavy-duty anti-corrosion coating.

7. The offshore photovoltaic platform hoisting device according to claim 6, characterized in that, The hydraulic motors on both sides can coordinate their speed difference and steering difference to enable the trolley to move straight, turn laterally, or turn in place by relying on the ball joint fulcrum.

8. The offshore photovoltaic platform hoisting device according to claim 1, characterized in that, The four extension cylinders (205) are synchronously extended and retracted, and the four support legs (204) are synchronously extended and retracted. Each set of extension cylinders (205) and each set of support legs (204) can be independently extended and retracted.

9. The offshore photovoltaic platform hoisting device according to claim 1, characterized in that, The four trolleys are arranged in pairs on both sides of the pile foundation, and the spacing between the trolleys is adapted to the spacing of the pile foundation array.

10. A control system for an offshore photovoltaic platform hoisting device, characterized in that, The control system, applied to the offshore photovoltaic platform hoisting device according to any one of claims 1-9, includes a computer, decision-making software, sensing and monitoring components, and electronic control execution components; The sensing and monitoring components include a horizontal sensor, an angular displacement sensor, a rangefinder, a displacement sensor, a weight sensor, and an amplitude sensor. The horizontal sensor is mounted on the upper surface of the first platform. Five angular displacement sensors are provided, one of which is mounted above the turntable bearing shaft, and the remaining four are mounted one-to-one inside the four ball joints. The rangefinder is mounted on the side of the second platform. The displacement sensors are respectively mounted at the extension cylinder, the outrigger extension end, and the trolley block drive cylinder. The decision-making software is installed inside a computer, and the computer is electrically connected to the decision-making software, all sensors, and electronically controlled actuators. All sensors, electronic control components, and wiring parts are equipped with waterproof sealing structures and salt spray corrosion protection layers, and the wiring ports are waterproof potting treatment.

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