CN114228922A - Offshore operation and maintenance ship mechanical arm and control method - Google Patents
Offshore operation and maintenance ship mechanical arm and control method Download PDFInfo
- Publication number
- CN114228922A CN114228922A CN202210006168.8A CN202210006168A CN114228922A CN 114228922 A CN114228922 A CN 114228922A CN 202210006168 A CN202210006168 A CN 202210006168A CN 114228922 A CN114228922 A CN 114228922A
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- maintenance
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- robot
- cage
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- 238000012423 maintenance Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a marine operation and maintenance ship mechanical arm and a control method. When the offshore operation and maintenance ship mechanical arm is used, the controller receives the boarding instruction and then adjusts the operation and maintenance ship to be close to the offshore platform; detecting the position of the landing point; judging whether the landing point is in the working range; when the cage is in a working range, personnel enter the operation and maintenance cage; and adjusting the mechanical arm to transport the operation and maintenance cage to the landing point. The process is judged by the controller and then the operation and maintenance ship is checked, so that repeated debugging is not needed, and the check-in efficiency of the operation and maintenance ship is improved.
Description
Technical Field
The invention relates to the technical field of offshore operation and maintenance ships, in particular to a mechanical arm of an offshore operation and maintenance ship and a control method.
Background
At present, when the operation and maintenance ship is berthed, due to the fact that judgment is not accurate enough, the operation and maintenance ship needs to be debugged repeatedly when berthing, and the berthing duration is prolonged.
Therefore, how to improve the boarding efficiency of the operation and maintenance ship is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a mechanical arm of an offshore operation and maintenance ship, which improves the boarding efficiency of the operation and maintenance ship. The invention also provides a battery pack with the marine operation and maintenance ship mechanical arm and an electric vehicle with the battery pack.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an offshore fortune dimension ship arm, includes base, stand, a plurality of arm, fortune maintenance cage, actuating mechanism and controller, wherein:
the base is arranged on the offshore operation and maintenance ship;
the upright post is arranged on the base;
after being connected, one end of each mechanical arm is connected to the upright post, and the other end of each mechanical arm is connected to the operation and maintenance cage;
the driving mechanism is used for driving the mechanical arm to run;
the controller receives the berthing instruction and then adjusts the operation and maintenance ship to be close to the offshore platform; detecting the position of the landing point; judging whether the landing point is in the working range; when the cage is in a working range, personnel enter the operation and maintenance cage; and adjusting the mechanical arm to transport the operation and maintenance cage to the landing point.
In some embodiments of the present invention, the monitoring device further comprises a monitoring unit, wherein the monitoring unit is configured to obtain a monitoring distance between the boarding point and the monitoring point and a monitoring angle between the boarding point and the monitoring point;
and the controller obtains a target distance D and a horizontal distance L of the landing point relative to the center of the base according to the monitoring distance and the detection angle.
In some embodiments of the invention, the monitoring unit comprises a distance measuring instrument and an angle measuring instrument.
In some embodiments of the present invention, the two mechanical arms are a first mechanical arm and a second mechanical arm, respectively, wherein the first mechanical arm is hinged to the upright, the second mechanical arm is hinged to the first mechanical arm, and the operation and maintenance cage is disposed on the second mechanical arm.
In some embodiments of the present invention, the driving mechanism drives the upright to rotate via the longitudinal shaft, drives the first robot arm to rotate via the first rotation shaft, and drives the second robot arm to rotate via the second rotation shaft.
The invention also discloses a control method of the marine operation and maintenance ship mechanical arm, which comprises the following steps:
adjusting the operation and maintenance ship to be close to the offshore platform;
detecting the position of the landing point;
judging whether the landing point is in the working range;
when the cage is in a working range, personnel enter the operation and maintenance cage;
and adjusting the mechanical arm to transport the operation and maintenance cage to the landing point.
In some embodiments of the present invention, the detecting the location of the landing point specifically includes:
acquiring a monitoring distance between the landing point and a monitoring point;
acquiring a monitoring angle between the landing point and the monitoring point;
the target distance D and the horizontal distance L of the landing point relative to the center of the base are obtained.
In some embodiments of the present invention, the determining whether the landing point is within the working range specifically includes:
acquiring a height difference H of the operation and maintenance ship relative to the offshore platform;
if the target distance D is less than the total length of the robot arm and the height difference is less than the height L1 of the upright, the landing point is within the working range.
In some embodiments of the present invention, there are two robot arms, namely a first robot arm and a second robot arm, wherein the length of the first robot arm is L2, and the length of the second robot arm is L3; then the judgment whether the landing point is in the working range is as follows:
acquiring a height difference H of the operation and maintenance ship relative to the offshore platform;
if the following conditions are met, the landing point is in the working range;
in some embodiments of the present invention, the operation and maintenance cage is transferred to the landing point by the adjusting mechanical arm specifically comprises:
the adjusting upright post, the first mechanical arm and the second mechanical arm are positioned on the same plane;
adjusting the longitudinal axis of the upright column to enable the upright column, the first mechanical arm and the second mechanical arm to be in the same plane with the landing point;
adjusting a first rotating shaft of the first mechanical arm to enable the height of a second rotating shaft of the second mechanical arm to reach the height of the leaning point, wherein the included angle alpha between the first mechanical arm and the horizontal plane needs to satisfy the following requirements: l2 sin α + L1 ═ H
Adjusting a second rotating shaft of the second mechanical arm to enable the second mechanical arm to be kept horizontal;
and stopping the operation and maintenance cage at the boarding point, keeping the relative position of the operation and maintenance ship and the offshore platform unchanged, and starting to board by personnel.
When the offshore operation and maintenance ship mechanical arm is used, the controller receives the boarding instruction and then adjusts the operation and maintenance ship to be close to the offshore platform; detecting the position of the landing point; judging whether the landing point is in the working range; when the cage is in a working range, personnel enter the operation and maintenance cage; and adjusting the mechanical arm to transport the operation and maintenance cage to the landing point. The process is judged by the controller and then the operation and maintenance ship is checked, so that repeated debugging is not needed, and the check-in efficiency of the operation and maintenance ship is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 to fig. 2 are schematic structural views of a mechanical arm of an offshore operation and maintenance ship in a process of landing and leaning on in an embodiment of the invention;
FIG. 3 is a front view structural diagram of a mechanical arm of the marine maintenance and transportation vessel disclosed in the embodiment of the invention;
FIG. 4 is a top view structural diagram of a mechanical arm of the marine maintenance and transportation vessel disclosed in the embodiment of the invention;
FIG. 5 is a position structure diagram of a mechanical arm of the marine maintenance and transportation vessel disclosed in the embodiment of the invention;
FIG. 6 is a flow chart of a method for controlling a mechanical arm of a marine operation and maintenance ship, disclosed in an embodiment of the present invention;
FIG. 7 is a partial flow chart of a method for controlling a mechanical arm of a marine operation and maintenance vessel, disclosed in an embodiment of the present invention;
fig. 8 is a partial flowchart of a method for controlling a mechanical arm of a marine operation and maintenance ship, disclosed in an embodiment of the present invention.
In the figure, 100 is an operation and maintenance ship, 200 is an offshore platform, 300 is an offshore operation and maintenance ship mechanical arm, 301 is a base, 302 is a vertical column, 303 is a first mechanical arm, 304 is a second mechanical arm, and 305 is an operation and maintenance cage.
Detailed Description
The invention discloses a mechanical arm of an offshore operation and maintenance ship, which improves the boarding efficiency of the operation and maintenance ship. The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. The described embodiments are only some embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
As shown in fig. 1-8, the present application discloses a marine operation and maintenance ship mechanical arm 300, comprising a base 301, a column 302, a plurality of mechanical arms, an operation and maintenance cage 305, a driving mechanism and a controller, wherein: the base 301 is arranged on the offshore operation and maintenance ship 100; the upright column 302 is arranged on the base 301; after being connected, one end of each mechanical arm is connected to the upright column 302, and the other end of each mechanical arm is connected to the operation and maintenance cage 305; the driving mechanism is used for driving the mechanical arm to run; the controller receives the instruction of leaning on and then adjusts the operation and maintenance ship 100 to be close to the offshore platform 200; detecting the position of the landing point; judging whether the landing point is in the working range; when in the working range, personnel enter the operation and maintenance cage 305; the robotic arms are adjusted to transport the maintenance cage 305 to the landing point.
When the mechanical arm 300 of the offshore operation and maintenance ship is used, the controller receives the instruction of leaning on and then adjusts the operation and maintenance ship 100 to be close to the offshore platform 200; detecting the position of the landing point; judging whether the landing point is in the working range; when in the working range, personnel enter the operation and maintenance cage 305; the robotic arms are adjusted to transport the maintenance cage 305 to the landing point. Since the above process is judged by the controller and then the operation and maintenance ship 100 is embarked, repeated debugging is not needed, and accordingly the embarkation efficiency of the operation and maintenance ship 100 is improved.
It should be noted that the position of the detected landing point may be detected by the image acquisition device, measured by the measuring instrument, and measured by the angle measuring instrument. It is within the scope of the invention as long as detection of the location of the landing point can be achieved. The image collector can be a camera, a CCD collector and the like which can obtain image information. The measuring instrument can be a laser measuring instrument, an infrared measuring instrument and the like.
In some embodiments of the invention, the device further comprises a monitoring unit, wherein the monitoring unit is used for obtaining a monitoring distance between the landing point and the monitoring point B and a monitoring angle between the landing point and the monitoring point B;
the controller obtains a target distance D and a horizontal distance L of the landing point relative to the center A of the base 301 according to the monitoring distance and the detection angle.
In the above process, since the monitoring distance and the monitoring angle between the monitoring point B and the landing point are obtained, the target distance D and the horizontal distance L of the center a of the base 301 can be converted by the monitoring point B.
In some embodiments of the invention, the monitoring unit comprises a distance measuring instrument and an angle measuring instrument.
The number of the robot arms may be at least one, and when two, the robot arms are a first robot arm 303 and a second robot arm 304, wherein the first robot arm 303 is hinged to the column 302, the second robot arm 304 is hinged to the first robot arm 303, and the maintenance cage 305 is disposed on the second robot arm 304.
The drive mechanism drives the column 302 in rotation via the longitudinal axis, the first robot arm 303 in rotation via the first rotation axis, and the second robot arm 304 in rotation via the second rotation axis.
The driving mechanism is a motor or a motor, and the motor or the motor is arranged to drive the corresponding rotating shaft to rotate so as to realize rotation of the corresponding mechanical arm.
The invention also discloses a control method of the marine operation and maintenance ship mechanical arm, which comprises the following steps:
and step S11, adjusting the operation and maintenance ship to be close to the offshore platform.
Step S12, detecting the position of the landing point; in this step, the position of the landing point can be detected by the image acquisition device, measured by the measuring instrument, and measured by the angle measuring instrument. It is within the scope of the invention as long as detection of the location of the landing point can be achieved. The image collector can be a camera, a CCD collector and the like which can obtain image information. The measuring instrument can be a laser measuring instrument, an infrared measuring instrument and the like.
In one embodiment of the present invention, the steps include:
step S121, acquiring a monitoring distance between the landing point and a monitoring point;
step S122, acquiring a monitoring angle between the landing point and the monitoring point;
and step S123, obtaining a target distance D and a horizontal distance L of the landing point relative to the center of the base.
Step S13, judging whether the landing point is in the working range; there are many methods of determining the landing point in this step, for example, determination by distance, determination by a position sensor, and the like.
In one embodiment of the present invention, the steps include:
acquiring a height difference H of the operation and maintenance ship relative to the offshore platform;
if the target distance D is less than the total length of the robot arm and the height difference is less than the height L1 of the upright, the landing point is within the working range.
When the number of the two mechanical arms is two, the two mechanical arms are respectively a first mechanical arm and a second mechanical arm, wherein the length of the first mechanical arm is L2, and the length of the second mechanical arm is L3; then the judgment whether the landing point is in the working range is as follows:
acquiring a height difference H of the operation and maintenance ship relative to the offshore platform;
if the following conditions are met, the landing point is in the working range;
and step S14, when the personnel are in the working range, the personnel enter the operation and maintenance cage.
And step S15, the mechanical arm is adjusted to transfer the operation and maintenance cage to the landing point.
S151, adjusting the upright post, the first mechanical arm and the second mechanical arm to be on the same plane;
s152, adjusting the longitudinal axis of the upright column to enable the upright column, the first mechanical arm and the second mechanical arm to be in the same plane with the landing point;
step S153, adjusting a first rotation axis of the first robot arm to enable a second rotation axis of the second robot arm to reach a height of the landing point, wherein an included angle α between the first robot arm and the horizontal plane needs to satisfy: l2 sin α + L1 ═ H
Step S154, adjusting a second rotating shaft of the second mechanical arm to enable the second mechanical arm to be kept horizontal;
and S155, stopping the operation and maintenance cage at the boarding point, keeping the relative position of the operation and maintenance ship and the offshore platform unchanged, and starting to board by personnel.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an offshore fortune dimension ship arm, its characterized in that includes base, stand, a plurality of arm, fortune dimension cage, actuating mechanism and controller, wherein:
the base is arranged on the offshore operation and maintenance ship;
the upright post is arranged on the base;
after being connected, one end of each mechanical arm is connected to the upright post, and the other end of each mechanical arm is connected to the operation and maintenance cage;
the driving mechanism is used for driving the mechanical arm to run;
the controller receives the berthing instruction and then adjusts the operation and maintenance ship to be close to the offshore platform; detecting the position of the landing point; judging whether the landing point is in the working range; when the cage is in a working range, personnel enter the operation and maintenance cage; and adjusting the mechanical arm to transport the operation and maintenance cage to the landing point.
2. The marine operation and maintenance vessel robot of claim 1, further comprising a monitoring unit for obtaining a monitored distance between the landing point and a monitoring point and a monitored angle between the landing point relative to the monitoring point;
and the controller obtains a target distance D and a horizontal distance L of the landing point relative to the center of the base according to the monitoring distance and the detection angle.
3. The marine operation and maintenance vessel robot of claim 2, wherein said monitoring unit comprises a distance meter and an angle meter.
4. The marine operation and maintenance vessel robot of claim 3, wherein said robot is two, respectively, a first robot and a second robot, wherein said first robot is hinged to said column, said second robot is hinged to said first robot, and said operation and maintenance cage is disposed on said second robot.
5. The marine maintenance vessel robot of claim 4, wherein said drive mechanism drives rotation of said column via a longitudinal axis, said first robot via a first rotation axis, and said second robot via a second rotation axis.
6. A control method for a mechanical arm of an offshore operation and maintenance ship is characterized by comprising the following steps
Adjusting the operation and maintenance ship to be close to the offshore platform;
detecting the position of the landing point;
judging whether the landing point is in the working range;
when the cage is in a working range, personnel enter the operation and maintenance cage;
and adjusting the mechanical arm to transport the operation and maintenance cage to the landing point.
7. The method of claim 6, wherein the detecting the location of the landing point is specifically:
acquiring a monitoring distance between the landing point and a monitoring point;
acquiring a monitoring angle between the landing point and the monitoring point;
the target distance D and the horizontal distance L of the landing point relative to the center of the base are obtained.
8. The method as claimed in claim 7, wherein said determining whether the landing point is within the working range is specifically:
acquiring a height difference H of the operation and maintenance ship relative to the offshore platform;
if the target distance D is less than the total length of the robot arm and the height difference is less than the height L1 of the upright, the landing point is within the working range.
9. The method of claim 8, wherein the number of robotic arms is two, a first robotic arm and a second robotic arm, wherein the first robotic arm has a length of L2 and the second robotic arm has a length of L3; then the judgment whether the landing point is in the working range is as follows:
acquiring a height difference H of the operation and maintenance ship relative to the offshore platform;
if the following conditions are met, the landing point is in the working range;
10. the method of claim 9, wherein the adjusting the robotic arm to transfer the operation maintenance cage to the landing point is by:
the adjusting upright post, the first mechanical arm and the second mechanical arm are positioned on the same plane;
adjusting the longitudinal axis of the upright column to enable the upright column, the first mechanical arm and the second mechanical arm to be in the same plane with the landing point;
adjusting a first rotating shaft of the first mechanical arm to enable the height of a second rotating shaft of the second mechanical arm to reach the height of the leaning point, wherein the included angle alpha between the first mechanical arm and the horizontal plane needs to satisfy the following requirements: l2 sin α + L1 ═ H
Adjusting a second rotating shaft of the second mechanical arm to enable the second mechanical arm to be kept horizontal;
and stopping the operation and maintenance cage at the boarding point, keeping the relative position of the operation and maintenance ship and the offshore platform unchanged, and starting to board by personnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210006168.8A CN114228922A (en) | 2022-01-04 | 2022-01-04 | Offshore operation and maintenance ship mechanical arm and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210006168.8A CN114228922A (en) | 2022-01-04 | 2022-01-04 | Offshore operation and maintenance ship mechanical arm and control method |
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| Publication Number | Publication Date |
|---|---|
| CN114228922A true CN114228922A (en) | 2022-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210006168.8A Pending CN114228922A (en) | 2022-01-04 | 2022-01-04 | Offshore operation and maintenance ship mechanical arm and control method |
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| CN207241966U (en) * | 2017-10-01 | 2018-04-17 | 江苏海上龙源风力发电有限公司 | A kind of offshore boosting station arm hanging type gangway ladder |
| CN110329442A (en) * | 2019-07-25 | 2019-10-15 | 上海雄程海洋工程股份有限公司 | It is a kind of with compensation step on by function wind-powered electricity generation O&M ship and its step on by method |
| CN111232134A (en) * | 2020-03-24 | 2020-06-05 | 上海雄程海洋工程股份有限公司 | Marine platform boarding device with hydraulic base |
| CN213473448U (en) * | 2020-06-17 | 2021-06-18 | 长江三峡集团福建能源投资有限公司 | Balance structure for offshore wind turbine operation and maintenance climbing |
| CN113525600A (en) * | 2021-09-01 | 2021-10-22 | 中国华能集团清洁能源技术研究院有限公司 | Auxiliary shore climbing device |
| CN113562123A (en) * | 2021-08-17 | 2021-10-29 | 九江精密测试技术研究所 | Multi freedom wind-powered electricity generation tower steps on and carries landing stage |
| CN113753188A (en) * | 2021-08-24 | 2021-12-07 | 中国华能集团清洁能源技术研究院有限公司 | Operation and maintenance ship boarding equipment and operation and maintenance ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000015489A1 (en) * | 1998-09-17 | 2000-03-23 | Ägir Konsult AB | Mooring device |
| EP2505486A1 (en) * | 2011-04-01 | 2012-10-03 | Fundacion Centro Tecnologico de Componentes | Gangway |
| CN204124321U (en) * | 2014-07-31 | 2015-01-28 | 广东明阳风电产业集团有限公司 | Personnel on a kind of offshore wind farm O&M ship log in the device of offshore wind turbine foundation |
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| CN110329442A (en) * | 2019-07-25 | 2019-10-15 | 上海雄程海洋工程股份有限公司 | It is a kind of with compensation step on by function wind-powered electricity generation O&M ship and its step on by method |
| CN111232134A (en) * | 2020-03-24 | 2020-06-05 | 上海雄程海洋工程股份有限公司 | Marine platform boarding device with hydraulic base |
| CN213473448U (en) * | 2020-06-17 | 2021-06-18 | 长江三峡集团福建能源投资有限公司 | Balance structure for offshore wind turbine operation and maintenance climbing |
| CN113562123A (en) * | 2021-08-17 | 2021-10-29 | 九江精密测试技术研究所 | Multi freedom wind-powered electricity generation tower steps on and carries landing stage |
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