CN105253260A - Front carrying type tower pillar gesture control vessel dedicated for offshore wind turbine mounting - Google Patents

Front carrying type tower pillar gesture control vessel dedicated for offshore wind turbine mounting Download PDF

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Publication number
CN105253260A
CN105253260A CN201510705579.6A CN201510705579A CN105253260A CN 105253260 A CN105253260 A CN 105253260A CN 201510705579 A CN201510705579 A CN 201510705579A CN 105253260 A CN105253260 A CN 105253260A
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China
Prior art keywords
king
post
coaster
transverse shifting
offshore wind
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CN201510705579.6A
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Chinese (zh)
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CN105253260B (en
Inventor
李锺和
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纳路易爱姆斯株式会社
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Publication of CN105253260A publication Critical patent/CN105253260A/en
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/727Offshore wind turbines

Abstract

The invention discloses a vessel dedicated for offshore wind turbine mounting and capable of achieving position control. The vessel comprises a vessel body 10, a fixing structure pass groove 20, portal brackets 30, a vertical frame 50, a main lifting pulley 60, an upper holding part 70, a horizontal movement pulley 80, a lower holding part 90 and a control part 110, wherein the vessel body 10 is provided with a thrust device; the fixing structure pass groove 20 is formed in the vessel body 10, and an opening part 11 is formed in the front end of the fixing structure pass groove 20; the fixing structure pass groove 20 is positioned between the portal brackets 30; the vertical frame 50 is combined with a horizontal support part 35; the main lifting pulley 60 rises and falls along the vertical frame 50; the upper holding part 70 is formed through combining with the upper part of the main lifting pulley 60; the horizontal movement pulley 80 horizontally moves along a third rail R3 or a third guiding device formed at the lower part of the main lifting pulley 60 in the horizontal direction; the lower holding part 90 is mounted on the horizontal movement pulley 80; the control part 110 controls the movement of the main lifting pulley 60 and the horizontal movement pulley 80, and comprises a first drive part 111.

Description

Front carrying type king-post ability of posture control offshore wind generating installs Special Ship

Technical field

The present invention relates to front carrying type king-post ability of posture control offshore wind generating and Special Ship is installed.

Background technology

Registered patent 10-1236940 discloses a kind of aerogenerator installation boats and ships, comprising: double body type hull, it possess a pair unit hull separating be connected the part of described a pair unit hull and wind driven generator at the loading part of upper load; And gauntry crane, it makes the described aerogenerator being loaded into described loading part move to space between described a pair unit hull in order to described aerogenerator is installed on sea, be unloaded to described sea; Described gauntry crane comprises: the 1st framework, and it is uprightly installed on described double body type hull, can from described loading part to described a pair unit hull between space move; 2nd framework, it can be installed on described 1st framework with moving longitudinally; And clamper, it is installed on described 2nd framework in order to the fixing of described aerogenerator, and described 2nd framework can transversely move; Described 1st framework, described 2nd framework and described clamper configure a pair respectively, described a pair the 1st frameworks are configured at described a pair unit hull respectively, the two ends of described a pair the 2nd frameworks can be incorporated into described a pair the 1st frameworks respectively movably, and described a pair clamper is configured at described a pair the 2nd frameworks respectively.

Registered patent 10-1379025 discloses a kind of aerogenerator installation boats and ships, comprising: double body type hull, and it has a pair unit hull spaced apart from each other; Gauntry crane, it makes the aerogenerator being loaded into described double body type hull move to space between described a pair unit hull, is unloaded to sea; And up-and-down movement preventing portion, it is installed on described gauntry crane, prevents described gauntry crane from moving along the vertical direction according to sea state; Described up-and-down movement preventing portion comprises: cylinder, and it is installed between described double body type hull and described gauntry crane lower end; And guide portion, it surrounds the bottom of described gauntry crane and the outside of described cylinder, can with the lower slide of described gauntry crane.

Conventional art is in order to aim at the upper-lower position of clamper, need other control apparatus, the king-post position control corresponding with the rolling of boats and ships (longitudinal axis angular deflection rotates) is performed in registered patent 10-1379025 mode, the inscape that there is device increases, the range of movement of the framework needed for position control and required drive and the huge problem of required device.

In addition, conventional art does not possess the position control function corresponding with the pitching of boats and ships (lateral shaft angular deflection), and when making king-post position be fixed on marine fixed sturcture thing, the dynamic position only with boats and ships controls, be difficult to make both centers up and down consistent, there is the problem lacking workability.

Summary of the invention

(technical matters that will solve)

The present invention aims to provide a kind of offshore wind generating and installs Special Ship, makes upper and lower two handle parts be equipped on a main fall block, just can transverse shifting without the need to other control apparatus.

In addition, the present invention aims to provide a kind of offshore wind generating and installs Special Ship, king-post rolling (Rolling corresponding for the rolling (longitudinal axis angular deflection rotates) with boats and ships, boats and ships benchmark) position control section is integrally provided on main fall block bottom, be not only hydraulic pressure, the inscape that the required drive of such as servomotor is little can also be used, and therefore, it is possible to the pitching motion caused because of great waves or weight inclination etc. of reply boats and ships, realize precision and control king-post horizontal position rapidly.

In addition, the present invention aims to provide a kind of offshore wind generating and installs Special Ship, king-post pitching (Pitching, boats and ships benchmark) position control is integrally provided to the transverse shifting coaster of roll attitude control part, makes it possible to realize the position control corresponding with the pitching (lateral shaft angular deflection) of boats and ships; The motion of the inscape needed for control is made to realize minimizing, be not only hydraulic pressure, the inscape that the required drive of such as servomotor is little can also be used, and therefore, it is possible to the pitching motion caused because of great waves or weight inclination etc. of reply boats and ships, realize precision and control king-post horizontal position rapidly.

(means of dealing with problems)

A kind of front carrying type king-post ability of posture control offshore wind generating installs Special Ship, as offshore wind generating mounting shipping, comprising:

Hull 10, it possesses thruster, produces the buoyancy that can bear aerogenerator and bear a heavy burden;

Fixed sturcture thing is by using groove 20, and it is formed in described hull 10, is formed with peristome 11 in front end;

Gantry support 30, its described fixed sturcture thing is by between being placed in groove 20, and described in the support portion 31 formed by the both sides at described hull 10 and lateral connection, the horizontal supporting portion 35 of the upper end of support portion 31 is formed;

Vertical framework 50, its one or be incorporated into described horizontal supporting portion 35 removedly, formed upwards erectly have 10 ~ 70m height;

Main fall block 60, it is elevated along described vertical framework 50;

Top handle part 70, its top being incorporated into described main fall block 60 is formed, and holds the 1st place of the king-post P of aerogenerator, bears the heavy burden of aerogenerator, be installed on towards the side of described peristome 11;

Transverse shifting coaster 80, it carries out transverse shifting along the 3rd track R3 transversely formed in described main fall block 50 bottom or the 3rd guiding device;

Bottom handle part 90, it is installed on described transverse shifting coaster 80, holds the described 1st place more inferior portion than king-post P, is installed on towards the side of described peristome 11;

Control part 110, it controls described main fall block 60 and the movement of transverse shifting coaster 80, comprises the 1st drive division 111.

(invention effect)

According to the present invention, provide a kind of offshore wind generating that Special Ship is installed, make upper and lower two handle parts be equipped on a main fall block, just can transverse shifting without the need to other control apparatus.

In addition, according to the present invention, there is provided a kind of offshore wind generating that Special Ship is installed, king-post rolling (Rolling corresponding for the rolling (longitudinal axis angular deflection rotates) with boats and ships, boats and ships benchmark) position control section is integrally provided on main fall block bottom, be not only hydraulic pressure, the inscape that the required drive of such as servomotor is little can also be used, and therefore, it is possible to the pitching motion caused because of great waves or weight inclination etc. of reply boats and ships, realize precision and control king-post horizontal position rapidly.

In addition, according to the present invention, there is provided a kind of offshore wind generating that Special Ship is installed, king-post pitching (Pitching, boats and ships benchmark) position control is integrally provided to the transverse shifting coaster of roll attitude control part, makes it possible to realize the position control corresponding with the pitching (lateral shaft angular deflection) of boats and ships; Make the motion of the inscape needed for control realize minimizing, be not only hydraulic pressure, the inscape that the required drive of such as servomotor is little can also be used.And the pitching motion caused because of great waves or weight inclination etc. of boats and ships can be tackled, realize precision and control king-post horizontal position rapidly.

In addition, when making king-post be positioned at the tower of ocean fixed sturcture thing, by rolling and the pitching control of king-post, automatically keeping king-post vertically (uprightly), having and make installation exercise be easy to advantage.In addition, solve conventional art and do not possess the position control function corresponding with the pitching of boats and ships (lateral shaft angular deflection), when making king-post position be fixed on marine fixed sturcture thing, dynamic position only with boats and ships controls, be difficult to make both centers up and down consistent, there is the problem lacking workability.

Accompanying drawing explanation

Fig. 1 (a, b, c) is that the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of the present invention the 1st, the 2nd, the 3rd embodiment installs Special Ship block diagram.

Fig. 2 is that the offshore wind generating of one embodiment of the invention installs Special Ship main portion front view.

Fig. 3 is that the offshore wind generating of one embodiment of the invention installs another main portion front view of Special Ship.

Fig. 4 is that the offshore wind generating of one embodiment of the invention installs Special Ship roll attitude control part front view.

Fig. 5 (a, b) is the king-post pitch attitude control setup enlarged drawing (hydraulic way and rotation mode) that the aerogenerator of one embodiment of the invention installs in Special Ship.

Fig. 6 (a, b) is that the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of one embodiment of the invention installs Special Ship using state figure.

Fig. 7 (a, b) is that the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of the 3rd embodiment installs Special Ship description of operation figure.

Nomenclature

10: hull

20: fixed sturcture thing is by using groove

30: gantry support

31: support portion

35: horizontal supporting portion

40: lower support framework

50: vertically framework

60: main fall block

70: top handle part

80: transverse shifting coaster

90: bottom handle part

110: control part

120: king-post pitch attitude control setup

Detailed description of the invention

With reference to the accompanying drawings, to the front carrying type king-post ability of posture control offshore wind generating of one embodiment of the invention, Special Ship is installed to be described in detail.Fig. 1 (a, b, c) be the present invention the 1st, 2nd, the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of the 3rd embodiment installs Special Ship block diagram, Fig. 2 is that the offshore wind generating of one embodiment of the invention installs Special Ship main portion front view, Fig. 3 is that the offshore wind generating of one embodiment of the invention installs another main portion front view of Special Ship, Fig. 4 is that the offshore wind generating of one embodiment of the invention installs Special Ship roll attitude control part front view, Fig. 5 (a, b) be the king-post pitch attitude control setup enlarged drawing (hydraulic way and rotation mode) that the aerogenerator of one embodiment of the invention installs in Special Ship, Fig. 6 is that the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of one embodiment of the invention installs Special Ship using state figure, Fig. 7 is that the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of the 3rd embodiment installs Special Ship description of operation figure.

As shown in Figures 1 to 6, the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of one embodiment of the invention is installed Special Ship and is comprised: hull 10, it possesses thruster, produces the buoyancy that can bear aerogenerator and bear a heavy burden; Fixed sturcture thing is by using groove 20, and it is formed in described hull 10, is formed with peristome 11 in front end.Gantry support 30 is fixed sturcture thing by between being placed in groove 20, and described in the support portion 31 formed by the both sides at described hull 10 and lateral connection, the horizontal supporting portion 35 of the upper end of support portion 31 is formed.Vertical framework 50 one or be incorporated into horizontal supporting portion 35 removedly, is formed upwards erectly have 10 ~ 70m height.Main fall block 60 is elevated along described vertical framework 50.If highly too low, be then stuck in seabed fixed sturcture thing, if height must exceed needs, then install and operational difficulty.

As shown in Figures 1 to 6, with regard to boats and ships of the present invention, the top that top handle part 70 is incorporated into main fall block 60 is formed, and holds the 1st place of the king-post P of aerogenerator, bears the heavy burden of aerogenerator, be installed on towards the side of described peristome 11.Transverse shifting coaster 80 carries out transverse shifting along the 3rd track R3 transversely formed in main fall block 50 bottom or the 3rd guiding device.Bottom handle part 90 is installed on transverse shifting coaster 80, holds the described 1st place more inferior portion than king-post P, is installed on towards the side of described peristome 11.Control part 110 controls main fall block 60 and the movement of transverse shifting coaster 80, comprises the 1st drive division 111.

As shown in Fig. 1 b, Fig. 1 c (the present invention the 2nd, the 3rd embodiment), install in Special Ship at the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of the present invention the 2nd embodiment, possess supporting rail R2 at horizontal supporting portion 35, vertical framework 50 integrally or can be incorporated into removedly and carry out on the lower support framework 40 of transverse shifting along described supporting rail R2 or guiding device.

As shown in Fig. 1 c (the 3rd embodiment), install in Special Ship at the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of the present invention the 3rd embodiment, preferred gantry support and vertically framework combination also possess 1 ~ 3 in described hull 10, the gantry support of at least one and vertical framework combination 200 be not in order to hinder the operation of gantry support and the vertical framework combination 100 being positioned at rear, possess gantry slewing arrangement 30, make it possible to fold.If gantry slewing arrangement 130 is configured 31c on the downside of support portion, side and is separated with 31d on the upside of support portion, the rotary driving part 133 being so installed on 31a on the downside of opposite side support portion makes the gear 131 being installed on 31b on the upside of opposite side support portion rotate.

As shown in Figures 1 to 6, install in Special Ship at the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of one embodiment of the invention, control part 110 comprises the 1st drive division 111 making transverse shifting coaster 80 transverse shifting.Control part 110 by aerogenerator king-post P described in perception whether relative to the sensor of extra large water-surface vertical, perception king-post relative to the position transduser at the inclination angle in seawater face, weight sensor, inclination induction sensor in a kind of pillar upright angle detecting sensor S signal of selecting or boats and ships rolling action perceptual signal based on, utilize described 1st drive division 111, control the horizontal position being installed in the bottom handle part 90 of transverse shifting coaster 80, aerogenerator king-post P is kept vertically relative to seawater face.

As shown in Figures 1 to 6, install in Special Ship at the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of one embodiment of the invention, preferably between transverse shifting coaster 80 and bottom handle part 90, also possess king-post pitch attitude control setup 120.King-post pitch attitude control setup 120 comprises the length adjustment device 125 of the spacing regulating transverse shifting coaster 80 and bottom handle part 90, control part 110 with at perception aerogenerator king-post P whether relative to the sensor of extra large water-surface vertical, perception king-post is relative to the position transduser at the inclination angle in seawater face, weight sensor, based on a kind of pillar upright angle detecting sensor S signal selected in inclination induction sensor or boats and ships pitching action perceptual signal, utilize described length adjustment device 125, push away, to leave behind portion's handle part 90, make it from transverse shifting coaster 80 away from or close, control king-post pitch attitude, aerogenerator king-post P is kept vertically relative to seawater face.

As shown in Figure 5, install in Special Ship at the offshore wind generating that can carry out rolling and the control of pitching correspondence position that make use of sensor of one embodiment of the invention, king-post pitch attitude control setup 120 comprises: forward-reverse coaster 121, it is incorporated into transverse shifting coaster 80 opposite to each other with the state separated, and makes it possible to forward-reverse; Length adjustment piece 122, it is between transverse shifting coaster 80 and described forward-reverse coaster 121; 2nd drive division 123, it provides power to length adjustment piece 122.Bottom handle part 90 is formed in the side of forward-reverse coaster 121 one, and by means of the 2nd drive division 123, the length adjustment piece 122 of running regulates the gap between transverse shifting coaster 80 and forward-reverse coaster 122.

As shown in Figure 5 a, length adjustment device 125 comprises: cylinder and piston mode length adjustment piece 122a, and its side is taken, be incorporated into transverse shifting coaster 80, and opposite side is incorporated into forward-reverse coaster 121; 2nd drive division 123a, it is formed by the hydraulic pressure of cylinder and piston accommodating fluid or pneumatics supply department.

Length adjustment device 125 can also be realized by another kind of form, and as shown in Figure 5 b, length adjustment device 125 comprises: spiral length adjustment piece 122b, and it is inserted in negative thread or nut that transverse shifting coaster 80 or forward-reverse coaster 122 are formed; 2nd drive division 123b, it possesses the electrical motor M that spiral length adjustment piece 122b is rotated.

As shown in Figure 6, in addition, when making king-post be positioned at the tower of ocean fixed sturcture thing, by rolling and the pitching control of king-post, automatically keeping king-post vertically (uprightly), easily can carry out installation exercise.As shown in Figure 7, use the device in front, make king-post be positioned at the tower of ocean fixed sturcture thing, use and terminate rear folding, make not hinder the lift-launch operation using rear device.Also identical principle is applied during loading.

The preferred embodiment that the present invention just mentions above is illustrated, but scope of the present invention is not defined in this embodiment, and scope of the present invention is determined according to following claims, comprises and belonging to and the multiple amendment of equivalency range of the present invention and distortion.

It is pointed out that the reference numeral recorded in claims is merely for the understanding of auxiliary invention, does not have an impact to the explanation of interest field, must not reference numeral historically and constriction explains interest field.

Claims (9)

1. front carrying type king-post ability of posture control offshore wind generating installs a Special Ship, as offshore wind generating mounting shipping, it is characterized in that, comprising:
Hull (10), it possesses thruster, produces the buoyancy that can bear aerogenerator and bear a heavy burden;
Fixed sturcture thing is by using groove (20), and it is formed in described hull (10), is formed with peristome (11) in front end;
Gantry support (30), its described fixed sturcture thing is by between being placed in groove (20), and described in the support portion (31) formed by the both sides at described hull (10) and lateral connection, the horizontal supporting portion (35) of the upper end of support portion (31) is formed;
Vertical framework (50), its one or be releasably incorporated into described horizontal supporting portion (35), formed upwards erectly have 10 ~ 70m height;
Main fall block (60), it is elevated along described vertical framework (50);
Top handle part (70), its top being incorporated into described main fall block (60) is formed, hold the 1st place of the king-post (P) of aerogenerator, bear the heavy burden of aerogenerator, be installed on towards the side of described peristome (11);
Transverse shifting coaster (80), it carries out transverse shifting along the 3rd track (R3) transversely formed in described main fall block (50) bottom or the 3rd guiding device;
Bottom handle part (90), it is installed on described transverse shifting coaster (80), holds the described 1st place more inferior portion than king-post (P), is installed on towards the side of described peristome (11);
Control part (110), it controls described main fall block (60) and the movement of transverse shifting coaster (80), comprises the 1st drive division (111).
2. front according to claim 1 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
Supporting rail (R2) is possessed at described horizontal supporting portion (35),
Described vertical framework (50) one or be releasably incorporated into is carried out on the lower support framework (40) of transverse shifting along described supporting rail (R2) or the 2nd guiding device.
3. front according to claim 1 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
Described hull (10) also possesses 1 ~ 3 gantry support and vertical framework combination,
Gantry support and the vertical framework combination (200,300) at least one front possess gantry slewing arrangement (130), make it possible to fold.
4. front according to claim 3 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
Described gantry slewing arrangement (130) is separated if be configured (31c) on the downside of support portion, side with (31d) on the upside of support portion, and the rotary driving part (133) being so installed on (31a) on the downside of opposite side support portion makes the gear (131) being installed on (31b) on the upside of opposite side support portion rotate.
5. front as claimed in any of claims 1 to 3 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
Described control part (110) comprises the 1st drive division (111) making described transverse shifting coaster (80) transverse shifting;
Described control part (110):
By aerogenerator king-post (P) described in perception whether relative to the sensor of extra large water-surface vertical, perception king-post relative to the position transduser at the inclination angle in seawater face, weight sensor, inclination induction sensor in a kind of pillar upright angle detecting sensor (S) signal of selecting or boats and ships rolling action perceptual signal based on
Utilize described 1st drive division (111), control the horizontal position being installed in the bottom handle part (90) of transverse shifting coaster (80), described aerogenerator king-post (P) is kept vertically relative to seawater face.
6. front as claimed in any of claims 1 to 3 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
King-post pitch attitude control setup (120) is also possessed between described transverse shifting coaster (80) and bottom handle part (90);
Described king-post pitch attitude control setup (120) comprising:
Regulate the length adjustment device (125) of the spacing of transverse shifting coaster (80) and bottom handle part (90),
Described control part (110):
By aerogenerator king-post (P) described in perception whether relative to the sensor of extra large water-surface vertical, perception king-post relative to the position transduser at the inclination angle in seawater face, weight sensor, inclination induction sensor in a kind of pillar upright angle detecting sensor (S) signal of selecting or boats and ships pitching action perceptual signal based on
Utilize described length adjustment device (125), push away, portion's handle part (90) of leaving behind, make it from transverse shifting coaster (80) away from or close, control king-post pitch attitude, described aerogenerator king-post (P) is kept vertically relative to seawater face.
7. front according to claim 6 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
Described king-post pitch attitude control setup (120) comprising:
Forward-reverse coaster (121), it is incorporated into described transverse shifting coaster (80) opposite to each other with the state separated, and makes it possible to forward-reverse;
Length adjustment piece (122), it is between described transverse shifting coaster (80) and described forward-reverse coaster (121);
2nd drive division (123), it provides power to described length adjustment piece (122);
Described bottom handle part (90) is formed in the side of forward-reverse coaster (121) one,
The length adjustment piece (122) of the running by means of the 2nd drive division (123) regulates the gap between transverse shifting coaster (80) and forward-reverse coaster (122).
8. front according to claim 7 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
Described length adjustment device (125) comprising:
Cylinder and piston mode length adjustment piece (122a), its side is taken, be incorporated into transverse shifting coaster (80), and opposite side is incorporated into forward-reverse coaster (121);
2nd drive division (123a), it is formed by the hydraulic pressure of described cylinder and piston accommodating fluid or pneumatics supply department.
9. front according to claim 7 carrying type king-post ability of posture control offshore wind generating installs Special Ship, it is characterized in that,
Described length adjustment device (125) comprising:
Spiral length adjustment piece (122b), it is inserted in negative thread or the nut of transverse shifting coaster (80) or the upper formation of forward-reverse coaster (122);
2nd drive division (123b), it possesses the electrical motor (M) that described spiral length adjustment piece (122b) is rotated.
CN201510705579.6A 2015-10-27 2015-10-27 Special ship for controlling installation of offshore wind driven generator by front carrying type tower column posture CN105253260B (en)

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CN201510705579.6A CN105253260B (en) 2015-10-27 2015-10-27 Special ship for controlling installation of offshore wind driven generator by front carrying type tower column posture

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CN109911127A (en) * 2019-03-08 2019-06-21 武汉理工大学 A kind of primary-auxiliary type installation ship and its application of assembling at sea

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