Grouting ship charging device for offshore wind power

Abstract

The utility model belongs to the field of offshore wind power, and discloses a charging device for a grouting ship for offshore wind power, which is mounted on the grouting ship in a matched manner and comprises a charging mechanical arm and a mooring clamping mechanism, the charging mechanical arm comprises a mechanical arm body and a grouting ship charging mechanism arranged at the execution end of the mechanical arm body, the mechanical arm body drives the grouting ship charging mechanism to move, and the grouting ship charging mechanism is used for being matched with a platform charging device on the parking charging platform to achieve charging of the grouting ship. According to the utility model, charging and parking functions are integrated in one set of device. Integrated butt joint is achieved through precise positioning of the mechanical arm, auxiliary fixing of the suction cup and the charging head of the grouting ship controlled by the telescopic driver. Compared with an existing scattered charging and anchoring mode, the integrated design simplifies the operation process and improves the working efficiency.

Description

Technical Field

[0001] This utility model relates to the field of offshore wind power, specifically a charging device for a grouting vessel used in offshore wind power. Background Technology

[0002] With the rapid development of the offshore wind power industry, grouting vessels play a crucial role in daily wind farm operation and maintenance. However, current grouting vessels are typically just traditional workboats, primarily focused on transporting personnel and equipment and performing basic maintenance on wind turbines, lacking a systematic design for charging and mooring. In practical applications, grouting vessels require external anchoring systems or temporary mooring facilities for mooring, which often increases the difficulty of securing the vessels due to complex sea conditions. Especially in terms of charging, existing grouting vessels must rely on independent external charging equipment or platform-mounted charging piles, which is cumbersome and inefficient.

[0003] The main problems with these traditional solutions are that vessels cannot dock stably, the charging process relies on manual docking and lacks precise positioning. More importantly, existing technologies fail to integrate the berthing and charging needs of the grouting vessel, resulting in frequent position adjustments during operations, excessively long equipment docking times, and the risk of charging connectors detaching or being damaged in unstable sea conditions. These problems not only reduce operational efficiency but also increase operational costs and the workload of personnel. Utility Model Content

[0004] The purpose of this invention is to provide a charging device for a grouting vessel used in offshore wind power, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A charging device for offshore wind power grouting vessels, installed on the grouting vessel, includes a charging robotic arm and a mooring clamping mechanism. The mooring clamping mechanism is used to clamp the pile legs. The charging robotic arm includes a robotic arm body and a grouting vessel charging mechanism disposed on the execution end of the robotic arm body. The robotic arm body drives the grouting vessel charging mechanism to move. The grouting vessel charging mechanism is used to cooperate with a platform charging device on the mooring charging platform to realize the charging of the grouting vessel.

[0007] Furthermore, the grouting vessel charging mechanism includes a charging bracket, a grouting vessel charging head, and a telescopic driver. The charging bracket is connected to the robotic arm body, and the telescopic driver is mounted on the charging bracket to drive the grouting vessel charging head to move.

[0008] Furthermore, the grouting vessel charging mechanism also includes a charging guide rail, which is connected to the grouting vessel charging head and slides in cooperation with the charging bracket.

[0009] Furthermore, the grouting vessel charging mechanism also includes a charging locking suction cup mounted on the charging bracket, which is used to attach and fix to the platform charging device.

[0010] Furthermore, it also includes a charging slide, on which the charging robotic arm is mounted, and the charging slide drives the charging robotic arm to move laterally.

[0011] Furthermore, the parking clamping mechanism includes an automatic gripper mechanism for clamping the pile legs.

[0012] Furthermore, the automatic gripper mechanism is equipped with a telescopic pressure rod on the gripper, which is used to press the pile leg.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1) Integrated Charging and Mooring Design: The grouting vessel integrates charging and mooring functions into a single unit. This is achieved through precise positioning by a robotic arm, assisted fixation by suction cups, and integrated docking of the grouting vessel's charging head controlled by a telescopic actuator. Compared to existing fragmented charging and mooring methods, this integrated design simplifies the workflow and improves work efficiency.

[0015] 2) Multi-level stabilization and wind and wave resistance: Utilizing a multi-level fixing structure including gripper mechanisms and suction cups, the grouting vessel first secures itself to the wind turbine platform's legs via the gripper mechanism, then connects to the charging mechanism for charging. This multi-layered stabilization mechanism ensures the grouting vessel remains safe and stable even in wind and wave conditions, reducing the risk of charging devices detaching or connectors breaking due to swaying.

[0016] 3) Precise and flexible robotic arm charging docking: The robotic arm on the deck has a high degree of freedom of operation, enabling precise adjustment of the charging head position and adaptation to the charging head positions of different wind power platforms. Compared with traditional solutions that require manual docking or fixed charging piles, this robotic arm device significantly improves docking efficiency and operational convenience, while reducing the safety hazards of manual intervention. Attached Figure Description

[0017] Figure 1 This is one of the structural schematic diagrams of this utility model.

[0018] Figure 2 This is the second schematic diagram of the structure of this utility model.

[0019] In the diagram: 1. Robotic arm body; 2. Grouting vessel charging mechanism; 200. Charging bracket; 201. Grouting vessel charging head; 202. Telescopic driver; 203. Charging locking suction cup; 204. Charging guide rail; 3. Charging slide; 4. Automatic gripper mechanism; 5. Telescopic pressure rod; 6. Deck. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1 and Figure 2 A charging device for offshore wind power grouting vessels, which is installed on the grouting vessel, includes a charging robotic arm and a mooring clamping mechanism. The mooring clamping mechanism is used to clamp the pile legs. The charging robotic arm includes a robotic arm body 1 and a grouting vessel charging mechanism 2 disposed on the execution end of the robotic arm body 1. The robotic arm body 1 drives the grouting vessel charging mechanism 2 to move. The grouting vessel charging mechanism 2 is used to cooperate with the platform charging device on the mooring charging platform to realize the charging of the grouting vessel.

[0022] Among them, the robotic arm body 1 is a six-axis robotic arm. The execution end of the robotic arm body 1 is also equipped with a camera, which controls the operation of the robotic arm body 1 through the corresponding visual recognition technology. This is a well-known technology and will not be described in detail.

[0023] Continue reading Figure 1 and Figure 2 In one embodiment of the present invention, the grouting boat charging mechanism 2 includes a charging bracket 200, a grouting boat charging head 201 and a telescopic driver 202. The charging bracket 200 is connected to the robotic arm body 1, and the telescopic driver 202 is disposed on the charging bracket 200 and connected to the grouting boat charging head 201. The telescopic driver 202 is used to drive the grouting boat charging head 201 to move.

[0024] The telescopic actuator 202 is preferably a hydraulic cylinder, but electric push rods, pneumatic push rods, etc. can also be used.

[0025] Continue reading Figure 1 and Figure 2 In one embodiment of the present invention, the grouting boat charging mechanism 2 further includes a charging guide rail 204, which is connected to the grouting boat charging head 201 and slides in cooperation with the charging bracket 200. The charging guide rail 204 can provide guidance and support for the telescopic movement of the grouting boat charging head 201, making the movement of the grouting boat charging head 201 more stable.

[0026] Continue reading Figure 1 and Figure 2In one embodiment of this utility model, the grouting vessel charging mechanism 2 further includes a charging locking suction cup 203 disposed on the charging bracket 200, which is used to adsorb and fix with the platform charging device. The charging locking suction cup 203 can be a vacuum suction cup.

[0027] Continue reading Figure 1 and Figure 2 In one embodiment of the present invention, the present invention further includes a charging slide 3, which is mounted on the deck 6, and a charging robotic arm is disposed on the charging slide 3. The charging slide 3 drives the charging robotic arm to move laterally.

[0028] The charging slide 3 is preferably a hydraulic slide, but an electric slide, a pneumatic slide, etc. can also be used.

[0029] Continue reading Figure 1 and Figure 2 In one embodiment of this utility model, the parking clamping mechanism includes an automatic gripper mechanism 4, which is used to clamp the pile leg. The automatic gripper mechanism 4 includes two clamping jaws that can close together and a driver that drives the two jaws. The driver is preferably a hydraulic rod, but an electric push rod or a pneumatic push rod can also be used. The structure of the automatic gripper mechanism 4 is known technology and will not be described in detail. A telescopic pressure rod 5 is also provided on the jaws of the automatic gripper mechanism 4. A flexible layer, such as rubber or silicone, is provided on the output end of the telescopic pressure rod 5. The output end of the telescopic pressure rod 5 extends into the inside of the jaws and moves to clamp the pile leg. The telescopic pressure rod 5 is preferably a hydraulic rod, but an electric push rod or a pneumatic push rod can also be used.

[0030] This utility model is mainly installed on the side of the grouting vessel. Through the merging or opening of the automatic gripper mechanism 4, it can position or detach from the jacket or pile of the offshore wind power foundation. The telescopic pressure bar 5 mainly functions to clamp the wind power foundation, thereby improving the stability of the grouting vessel at anchor.

[0031] The main function of the charging robotic arm is to position and control the charging interface to connect to the charging device on the wind turbine foundation. The entire charging robotic arm is installed on one side of the deck of the maintenance vessel. The charging robotic arm moves longitudinally along the deck 6 on the charging slide 3, and the robotic arm body 1 changes the vertical position of the actuator to control the interface connection.

[0032] The charging bracket 200, telescopic driver 202, charging locking suction cup 203, charging guide rail 204 and other structures of the grouting vessel charging mechanism 2 play a role in preventing the joint from breaking due to shaking.

[0033] Workflow: First, the grouting vessel is moored at the wind turbine foundation's anchorage. The mooring clamping mechanism secures the foundation, and the vessel is successfully anchored. Then, the charging slide 3 and the robotic arm body 1 work to locate the charging port on the wind turbine foundation. After positioning, the charging locking suction cup 203 removes air, and the robotic arm's actuator is fixed in place. Finally, the telescopic actuator 202 extends the grouting vessel's charging head 201 to connect with the charging device on the platform, and the grouting vessel begins charging.

[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A charging device for a grouting vessel used in offshore wind power, which is installed on the grouting vessel, characterized in that, The system includes a charging robotic arm and a mooring clamping mechanism. The mooring clamping mechanism is used to hold the pile legs. The charging robotic arm includes a robotic arm body (1) and a grouting vessel charging mechanism (2) disposed on the execution end of the robotic arm body (1). The robotic arm body (1) drives the grouting vessel charging mechanism (2) to move. The grouting vessel charging mechanism (2) is used to cooperate with the platform charging device on the mooring charging platform to realize the charging of the grouting vessel.

2. The charging device for a grouting vessel used in offshore wind power according to claim 1, characterized in that, The grouting vessel charging mechanism (2) includes a charging bracket (200), a grouting vessel charging head (201), and a telescopic driver (202). The charging bracket (200) is connected to the robotic arm body (1), and the telescopic driver (202) is mounted on the charging bracket (200). The telescopic driver (202) is used to drive the grouting vessel charging head (201) to move.

3. A charging device for a grouting vessel used in offshore wind power according to claim 2, characterized in that, The grouting vessel charging mechanism (2) also includes a charging guide rail (204), which is connected to the grouting vessel charging head (201) and slides in cooperation with the charging bracket (200).

4. A charging device for a grouting vessel used in offshore wind power according to claim 2, characterized in that, The grouting vessel charging mechanism (2) also includes a charging locking suction cup (203) disposed on the charging bracket (200), which is used to attach and fix to the platform charging device.

5. A charging device for a grouting vessel used in offshore wind power according to claim 1, characterized in that, It also includes a charging slide (3), on which the charging robotic arm is mounted, and the charging slide (3) drives the charging robotic arm to move laterally.

6. A charging device for a grouting vessel used in offshore wind power according to claim 1, characterized in that, The parking clamping mechanism includes an automatic gripper mechanism (4) for clamping the pile legs.

7. A charging device for a grouting vessel used in offshore wind power according to claim 6, characterized in that, The automatic gripper mechanism (4) has a telescopic pressure rod (5) on its gripper, which is used to press the pile leg.

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