CN106044585A - Offshore wind turbine integral hoisting device with multi-degree of freedom compensation - Google Patents
Offshore wind turbine integral hoisting device with multi-degree of freedom compensation Download PDFInfo
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- CN106044585A CN106044585A CN201610576282.9A CN201610576282A CN106044585A CN 106044585 A CN106044585 A CN 106044585A CN 201610576282 A CN201610576282 A CN 201610576282A CN 106044585 A CN106044585 A CN 106044585A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
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- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
本发明公开了一种多自由度补偿的海上风机整体吊装装置，包括船体、吊架平台，所述吊架平台上方安装有吊架，还包括上部吊点运动补偿系统、起吊载荷动态匹配系统、下部风机定位对中系统、起吊系统，所述上部吊点运动补偿系统安装在所述船体的吊架上，包括可伸缩吊臂、水平补偿液压缸、垂向补偿液压缸和相关连接件，所述起吊载荷动态匹配系统包括主承载钢缆、主承载弹簧、主承载液压缸和滑轮，所述下部风机定位系统包括下平衡梁、弹簧缓冲器、定位牵索、定位绞车及滑轮，所述起吊系统包括上平衡梁、吊钩、起吊索、吊索撑杆、滑轮和起吊绞车。本发明能控制整个风机的姿态，使风机产生六个自由度的补偿运动来抗衡船舶的摇摆和升沉，从而提高风机在风浪中的稳定性，并实现风机和基础的准确定位与对中。
The invention discloses a multi-degree-of-freedom compensation offshore fan integral hoisting device, which includes a hull, a hanger platform, a hanger is installed above the hanger platform, and an upper lifting point motion compensation system, a lifting load dynamic matching system, The positioning and centering system and the lifting system of the lower fan, the motion compensation system of the upper lifting point is installed on the hanger of the hull, including a telescopic boom, a horizontal compensation hydraulic cylinder, a vertical compensation hydraulic cylinder and related connectors. The lifting load dynamic matching system includes a main bearing steel cable, a main bearing spring, a main bearing hydraulic cylinder and a pulley, and the lower fan positioning system includes a lower balance beam, a spring buffer, a positioning guy cable, a positioning winch and a pulley. The system includes upper equalizer beams, hooks, hoisting ropes, sling stays, pulleys and hoisting winches. The present invention can control the posture of the whole wind turbine, and make the wind turbine produce six degrees of freedom compensation motion to counter the sway and heave of the ship, thereby improving the stability of the wind turbine in wind and waves, and realizing accurate positioning and centering of the wind turbine and the foundation.
Description
技术领域technical field
本发明涉及海洋工程技术领域，特别涉及一种多自由度补偿的海上风机整体吊装装置。The invention relates to the technical field of ocean engineering, in particular to an integral hoisting device for offshore wind turbines with multi-degree-of-freedom compensation.
背景技术Background technique
风能作为一种清洁的可再生能源，特别是海上风能，在世界能源结构中发挥重要作用，在可再生资源中占据主导地位，其开发和利用越来越被人们重视。目前用于海上风机安装的船舶主要有两大类，一类是自升式风机安装船或平台，另一类是浮式安装船。自升式安装船或平台受风浪影响较浮式安装船小，但其受水域、水深的限制；浮式安装船则不受水深的影响，但受风浪的影响较自升式安装船大。随着风电场的发展，风机安装逐渐向深水域发展，由于自升式安装船或平台受水深限制，并且在淤泥质海床，桩脚较难保持平衡，此时，大型浮式安装船就显示出优势了，其不受水域、水深限制，在不同风机位置间的转移速度快，操纵性好，机动性强。但由于风浪因素限制了浮式安装船的使用范围，其安装作业必须在小风浪条件下才能进行。因此如何降低风浪对浮式安装船的影响，提高安装作业中风机的稳定性和可控性成了目前需要迫切解决的问题。As a clean and renewable energy, wind energy, especially offshore wind energy, plays an important role in the world's energy structure and occupies a dominant position among renewable resources. People pay more and more attention to its development and utilization. At present, there are two main types of ships used for offshore wind turbine installation, one is the self-elevating wind turbine installation ship or platform, and the other is the floating installation ship. Jack-up installation vessels or platforms are less affected by wind and waves than floating installation vessels, but are limited by water area and water depth; floating installation vessels are not affected by water depth, but are more affected by wind and waves than jack-up installation vessels. With the development of wind farms, the installation of wind turbines is gradually developing in deep waters. Since the jack-up installation vessel or platform is limited by the water depth, and on the muddy seabed, it is difficult to keep the pile feet in balance. At this time, the large floating installation vessel is It has shown its advantages. It is not limited by the water area and water depth. The transfer speed between different fan positions is fast, the maneuverability is good, and the maneuverability is strong. However, due to the wind and wave factors that limit the range of use of the floating installation vessel, its installation work must be carried out under small wind and wave conditions. Therefore, how to reduce the impact of wind and waves on floating installation vessels and improve the stability and controllability of wind turbines during installation operations has become an urgent problem to be solved.
发明内容Contents of the invention
本发明的目的是提供一种多自由度补偿的海上风机整体吊装装置，提高风机吊装中的稳定性和可控性，实现风机与风机基础的准确定位与对中。The purpose of the present invention is to provide an integral hoisting device for offshore wind turbines with multi-degree-of-freedom compensation, improve the stability and controllability of the wind turbine hoisting, and realize accurate positioning and alignment of the wind turbine and the foundation of the wind turbine.
本发明要解决的问题是现有浮式风机安装船在风浪的作用下，容易产生横摇、纵摇与升沉等运动，从而使吊装中的风机上下、左右、前后摇晃不定，难以控制，这给风机的定位对中工作带来极大的难度，常常出现风机与基础的抨击现象，轻者损坏设备，重者出现事故。本发明通过上部吊点运动补偿系统和下部风机定位对中系统来联合控制整个风机的姿态，使风机产生六个自由度的补偿运动来抗衡船舶的摇摆和升沉，从而提高风机在风浪中的稳定性，并实现风机和风机基础的定位与对中。The problem to be solved by the present invention is that under the action of wind and waves, the existing floating fan installation ship is prone to roll, pitch and heave movements, so that the fan in the hoisting is unstable up and down, left and right, and front and back, which is difficult to control. This brings great difficulty to the positioning and centering of the fan, and the impact phenomenon between the fan and the foundation often occurs. The present invention jointly controls the attitude of the whole wind turbine through the motion compensation system of the upper lifting point and the positioning and centering system of the lower wind turbine, so that the wind turbine can generate compensation motion with six degrees of freedom to counterbalance the sway and heave of the ship, thereby improving the performance of the wind turbine in wind and waves. stability, and to achieve positioning and alignment of fans and fan foundations.
本发明采用的技术方案是：The technical scheme adopted in the present invention is:
一种多自由度补偿的海上风机整体吊装装置，包括船体，靠近船体艏部位置升高安装有吊架平台，所述吊架平台上方安装有吊架，还包括上部吊点运动补偿系统、起吊载荷动态匹配系统、下部风机定位对中系统、起吊系统，An overall hoisting device for offshore wind turbines with multi-degree-of-freedom compensation, including a hull, a hanger platform is installed near the bow of the hull, and a hanger is installed above the hanger platform, and also includes an upper lifting point motion compensation system, a lifting Load dynamic matching system, lower fan positioning and centering system, lifting system,
所述上部吊点运动补偿系统活动安装在所述船体的吊架上段朝向船尾的一侧，包括一端通过万向铰链活动连接吊架的可伸缩吊臂、驱动可伸缩吊臂自由端绕万向铰链上下左右摆动的液压驱动装置，通过控制所述可伸缩吊臂的上下、左右转动及前后伸缩运动来实现上部吊点的前后、左右、上下运动补偿；The motion compensation system of the upper lifting point is movably installed on the side of the upper part of the hanger of the hull facing the stern, including a telescopic boom with one end movably connected to the hanger through a universal hinge, and driving the free end of the telescopic boom to rotate in a universal direction. The hydraulic drive device for the hinge to swing up and down, and the up and down, left and right rotation and front and back telescopic movement of the telescopic boom can realize the front and rear, left and right, up and down motion compensation of the upper lifting point;
所述起吊载荷动态匹配系统一端连接可伸缩吊臂中部，另一端绕过设置在吊架顶端的滑轮机构后固定在吊架平台上，用以动态地平衡可伸缩吊臂自由端的受力；One end of the lifting load dynamic matching system is connected to the middle part of the telescopic boom, and the other end is fixed on the hanger platform after bypassing the pulley mechanism arranged at the top of the hanger, so as to dynamically balance the stress on the free end of the telescopic boom;
所述下部风机定位系统包括用于夹固风机立柱底部的下平衡梁、固定在船体上且通过定位牵索连接下平衡梁底部四角的四台定位绞车；The lower fan positioning system includes a lower balance beam for clamping the bottom of the fan column, four positioning winches fixed on the hull and connected to the four corners of the bottom of the lower balance beam through positioning cables;
所述起吊系统包括通过锁扣装置夹固风机立柱的上平衡梁和固定在吊架平台上的起吊绞车，缠在起吊绞车上的起吊索自由端绕过设置在可伸缩吊臂上的滑轮机构后连接上平衡梁两端，所述上平衡梁的底部通过钢缆连接下平衡梁。The lifting system includes the upper balance beam clamping the wind turbine column through the locking device and the lifting winch fixed on the hanger platform, and the free end of the lifting rope wound on the lifting winch bypasses the pulley mechanism arranged on the telescopic boom After connecting the two ends of the upper balance beam, the bottom of the upper balance beam is connected with the lower balance beam through a steel cable.
进一步地，所述上部吊点运动补偿系统包括两个可伸缩吊臂，两个可伸缩吊臂分别通过球铰链左右对称地安装在所述船体的吊架的左右立柱上，通过控制所述可伸缩吊臂的伸缩运动来实现吊点沿船舶纵向方向的运动补偿，所述液压驱动装置包括两个水平补偿液压缸和两个垂向补偿液压缸，所述水平补偿液压缸和所述可伸缩吊臂布置在同一水平面上，两个水平补偿液压缸的一端分别通过球铰链与吊架的上横梁中部相连接，另一端分别与两个可伸缩吊臂内侧面铰接，通过控制水平补偿液压缸的伸缩运动来带动可伸缩吊臂做水平方向的转动，实现吊点沿船舶横向方向的运动补偿，所述垂向补偿液压缸安装在所述可伸缩吊臂的正下方，两个垂向补偿液压缸的一端分别通过球铰链与船体吊架的左右立柱相连，另一端分别与两个可伸缩吊臂下侧面铰接，通过所述垂向补偿液压缸的伸缩运动来驱动可伸缩吊臂垂直方向转动，以此实现吊点垂直方向的运动补偿。Further, the motion compensation system of the upper lifting point includes two telescopic booms, which are symmetrically installed on the left and right columns of the hanger of the hull through ball joints respectively, and controlled by the The telescopic movement of the telescopic boom realizes the movement compensation of the lifting point along the longitudinal direction of the ship. The hydraulic drive device includes two horizontal compensation hydraulic cylinders and two vertical compensation hydraulic cylinders. The horizontal compensation hydraulic cylinder and the telescopic The booms are arranged on the same level. One end of the two horizontal compensation hydraulic cylinders is respectively connected to the middle of the upper beam of the hanger through a ball joint, and the other end is respectively hinged to the inner side of the two telescopic booms. By controlling the horizontal compensation hydraulic cylinder The telescopic movement drives the telescopic boom to rotate in the horizontal direction to realize the movement compensation of the lifting point along the transverse direction of the ship. The vertical compensation hydraulic cylinder is installed directly below the telescopic boom. Two vertical compensation One end of the hydraulic cylinder is respectively connected to the left and right columns of the hull hanger through a ball hinge, and the other end is respectively hinged to the lower sides of the two telescopic booms, and the telescopic movement of the vertical compensation hydraulic cylinder is used to drive the telescopic boom in the vertical direction Rotate to realize motion compensation in the vertical direction of the lifting point.
所述起吊载荷动态匹配系统包括两根主承载钢缆、两根主承载弹簧、两个主承载液压缸和两个滑轮，所述主承载钢缆一端与所述可伸缩吊臂的中上部连接，另一端绕过吊架的左右立柱顶部的滑轮后，通过所述主承载弹簧和所述主承载液压缸相连，所述主承载液压缸再通过球铰链与吊架平台相连，通过主承载液压缸的伸缩来控制所述主承载弹簧的拉伸量，从而实现所述主承载钢缆的拉力与起吊载荷的动态匹配，当所述垂向补偿液压缸往上顶使所述可伸缩吊臂向上转动时，所述起吊载荷动态匹配系统能检测到所述垂向补偿液压缸的压应力，马上增加所述主承载钢缆的拉力，协助所述垂向补偿液压缸使所述可伸缩吊臂迅速向上转动；当所述垂向补偿液压缸往下拉使所述可伸缩吊臂向下转动时，所述起吊载荷动态匹配系统检测到所述垂向补偿液压缸的拉应力，马上减少所述主承载钢缆的拉力以配合所述垂向补偿液压缸，使所述可伸缩吊臂迅速向下转动，因此以上两种情况都大大增加了所述垂向补偿液压缸的响应速度。The lifting load dynamic matching system includes two main load-bearing steel cables, two main load-bearing springs, two main load-bearing hydraulic cylinders and two pulleys, one end of the main load-bearing steel cables is connected to the middle and upper part of the telescopic boom , the other end bypasses the pulleys on the top of the left and right columns of the hanger, and is connected to the main bearing hydraulic cylinder through the main bearing spring, and the main bearing hydraulic cylinder is connected to the hanger platform through a ball joint, and the main bearing hydraulic pressure The expansion and contraction of the cylinder is used to control the tension of the main bearing spring, so as to realize the dynamic matching between the tension of the main bearing cable and the lifting load. When the vertical compensation hydraulic cylinder pushes up, the telescopic boom When turning upwards, the lifting load dynamic matching system can detect the compressive stress of the vertical compensation hydraulic cylinder, immediately increase the tension of the main load-bearing steel cable, and assist the vertical compensation hydraulic cylinder to make the telescopic crane The arm rotates upward quickly; when the vertical compensation hydraulic cylinder is pulled down to rotate the telescopic boom downward, the lifting load dynamic matching system detects the tensile stress of the vertical compensation hydraulic cylinder and immediately reduces the The pulling force of the main load-bearing steel cable cooperates with the vertical compensation hydraulic cylinder to make the telescopic boom rotate downward quickly, so the above two situations greatly increase the response speed of the vertical compensation hydraulic cylinder.
进一步地，所述下平衡梁中部通过夹紧装置锁死风机立柱底部，两端则依次通过四个所述弹簧缓冲器、两对呈八字布置的所述定位牵索绕过滑轮后连接到四台所述定位绞车上，通过四台定位绞车控制各定位牵索的收放来实现风机和基础的定位与对中。Further, the middle part of the lower balance beam locks the bottom of the fan column through the clamping device, and the two ends pass through the four spring buffers and two pairs of positioning cables arranged in a figure-eight arrangement in sequence, and then connect to the four On the positioning winches described above, the positioning and centering of the fan and the foundation are realized by controlling the retraction and release of each positioning guy rope through four positioning winches.
进一步地，所述上平衡梁中部通过锁扣装置扶稳风机立柱，所述上平衡梁两端下部通过四根钢缆和所述下平衡梁相连，所述上平衡梁两端上部通过吊环分别与两个吊钩相连，每个所述吊钩由所述起吊索经可伸缩吊臂上的若干滑轮连接到所述起吊绞车。Further, the middle part of the upper balance beam is supported by a locking device to stabilize the fan column, the lower parts of the two ends of the upper balance beam are connected with the lower balance beam through four steel cables, and the upper parts of the two ends of the upper balance beam are respectively connected by lifting rings. Linked to two suspension hooks, each of the suspension hooks is connected to the hoisting winch by the hoisting rope via several pulleys on the telescopic boom.
进一步地，还包括两个中间设置有转动关节的V型吊索撑杆，所述吊索撑杆两端通过设有铰轴的转动关节活动连接在可伸缩吊臂两端的内侧面，所述吊索撑杆的每个转动关节上都安装有滑轮供所述起吊索依次通过，所述吊索撑杆在垂直面上随可伸缩吊臂的伸缩而开合，使可伸缩吊臂的伸缩运动与起吊系统解耦，在起吊系统不动作的情况下，可伸缩吊臂的水平伸缩运动并不会影响到风机垂直方向的高度变化。Further, it also includes two V-shaped sling struts with rotating joints in the middle, and the two ends of the slinging struts are movably connected to the inner surfaces of the two ends of the telescopic boom through the rotating joints provided with hinge shafts. Pulleys are installed on each rotating joint of the sling strut for the sling to pass through in turn, and the sling strut opens and closes with the expansion and contraction of the telescopic boom on the vertical plane, so that the expansion and contraction of the telescopic boom The movement is decoupled from the lifting system. When the lifting system does not operate, the horizontal telescopic movement of the telescopic boom will not affect the vertical height change of the fan.
进一步地，所述船体采用双体船型结构，利于增加船舶的耐波性和稳性，所述吊架平台横跨地升高安装在双体船型结构靠近船体艏部位置。Further, the hull adopts a catamaran structure, which is beneficial to increase the seakeeping and stability of the ship, and the hanger platform is raised across and installed on the catamaran structure near the bow of the hull.
本发明相对于现有技术而言具有以下优点：Compared with the prior art, the present invention has the following advantages:
（1）本发明在吊架上部设置有吊点运动补偿系统，通过控制所述可伸缩吊臂的上下、左右转动及前后伸缩运动来实现上部吊点的前后、左右、上下运动补偿，从而大大降低风浪因素对吊点的扰动，使上部吊点保持相对稳定状态。(1) The present invention is provided with a suspension point motion compensation system on the upper part of the hanger. By controlling the up and down, left and right rotation and front and rear telescopic movements of the telescopic boom, the front and rear, left and right, up and down motion compensation of the upper suspension point is realized, thereby greatly Reduce the disturbance of wind and wave factors to the lifting point, and keep the upper lifting point in a relatively stable state.
（2）本发明在风机立柱底部设置有风机定位系统，通过控制四根所述定位牵索的收放来带动风机底部产生水平面的移动和绕垂直轴的转动，从而增加了风机底部的可控性，大大减少了传统吊装船上风机的“单摆运动”，并以此来实现风机底部和风机基础的准确定位与对中。(2) The present invention is equipped with a fan positioning system at the bottom of the fan column. By controlling the retraction and release of the four positioning cables, the bottom of the fan is driven to move horizontally and rotate around the vertical axis, thereby increasing the controllability of the bottom of the fan. It greatly reduces the "single pendulum movement" of the fan on the traditional hoisting ship, and uses this to realize the accurate positioning and alignment of the bottom of the fan and the foundation of the fan.
（3）本发明通过设置上部吊点运动补偿系统和下部风机定位系统，使风机上下部位置都能得到控制，并在两个系统的联合作用下，可使风机产生六个自由度的运动，从而大大增加了风机的可控性和灵活性。(3) The present invention can control the upper and lower positions of the fan by setting the upper lifting point motion compensation system and the lower fan positioning system, and under the joint action of the two systems, the fan can produce six degrees of freedom movement, Thereby greatly increasing the controllability and flexibility of the fan.
（4）本发明在吊架上设置有起吊载荷动态匹配系统，通过实时控制所述主承载液压缸的伸缩来实现所述主承载钢缆的拉力与起吊载荷的动态匹配，并能智能地识别所述垂向补偿液压缸的动作，通过调整自身的拉力来配合垂向补偿液压缸的步调，大大增加了所述垂向补偿液压缸的响应速度，使风机在垂直方向的升沉补偿响应迅速，从而使风机和基础的垂向抨击这一最关键的问题得到最大的限制。(4) The present invention is equipped with a lifting load dynamic matching system on the hanger, and realizes the dynamic matching between the pulling force of the main bearing steel cable and the lifting load by controlling the expansion and contraction of the main bearing hydraulic cylinder in real time, and can intelligently identify The action of the vertical compensation hydraulic cylinder adjusts its own tension to match the pace of the vertical compensation hydraulic cylinder, which greatly increases the response speed of the vertical compensation hydraulic cylinder, making the heave compensation response of the fan in the vertical direction quick , so that the most critical problem, the vertical attack of the fan and the foundation, is limited to the greatest extent.
（5）本发明通过设置V型吊索撑杆机构，使可伸缩吊臂的伸缩运动与起吊系统解耦，在起吊系统不动作的情况下，可伸缩吊臂的水平伸缩运动并不会影响到风机垂直方向的高度变化。(5) The present invention decouples the telescopic movement of the telescopic boom from the lifting system by setting a V-shaped suspension rod mechanism. When the lifting system does not operate, the horizontal telescopic movement of the telescopic boom will not affect the The height change to the vertical direction of the wind turbine.
附图说明Description of drawings
图1为本发明实施例的主视示意图。Fig. 1 is a schematic front view of an embodiment of the present invention.
图2为本发明实施例的左视示意图。Fig. 2 is a schematic left view of an embodiment of the present invention.
图3为本发明实施例的俯视示意图。Fig. 3 is a schematic top view of an embodiment of the present invention.
图4为本发明实施例的轴测示意图。Fig. 4 is a schematic perspective view of an embodiment of the present invention.
图5为本发明实施例吊架单边内侧部件安装示意图。Fig. 5 is a schematic diagram of the installation of one side inner part of the hanger according to the embodiment of the present invention.
图6为本发明实施例上部吊点运动补偿系统主要部件结构示意图。Fig. 6 is a schematic structural diagram of the main components of the upper lifting point motion compensation system according to the embodiment of the present invention.
图7为本发明实施例下部风机定位对中系统水平布置示意图。Fig. 7 is a schematic diagram of the horizontal layout of the lower fan positioning and centering system according to the embodiment of the present invention.
图中所示为：1-吊架；2-可伸缩吊臂；3-水平补偿液压缸；4-垂向补偿液压缸；5-主承载钢缆；6-主承载弹簧；7-主承载液压缸；8-滑轮；9-下平衡梁；10-弹簧缓冲器；11-定位牵索；12-定位绞车；13-风机；14-上平衡梁；15-吊钩；16-起吊索；17-吊索撑杆；18-起吊绞车；19-球铰链；20-立柱；21-上横梁；22-吊架平台；23-钢缆；24-船体。As shown in the figure: 1-hanger; 2-extensible boom; 3-horizontal compensation hydraulic cylinder; 4-vertical compensation hydraulic cylinder; 5-main bearing cable; 6-main bearing spring; 7-main bearing Hydraulic cylinder; 8-pulley; 9-lower balance beam; 10-spring buffer; 11-positioning cable; 12-positioning winch; 13-fan; 14-upper balance beam; 15-hook; 16-lifting rope; 17-sling strut; 18-lifting winch; 19-ball hinge; 20-column; 21-upper beam; 22-hanger platform; 23-steel cable; 24-hull.
具体实施方式detailed description
下面结合附图和具体实施例对本发明的发明目的作进一步详细描述，实施例不能在此一一赘述，但本发明的实施方式并不因此限定于以下实施例。The purpose of the invention of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the embodiments cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following embodiments.
如图1至图4所示，一种多自由度补偿的海上风机整体吊装装置，包括船体24，靠近船体24艏部位置升高安装有吊架平台22，所述吊架平台22上方安装有吊架1，所述船体24采用双体船型结构，所述吊架平台22横跨地升高安装在双体船型结构靠近船体艏部位置，还包括上部吊点运动补偿系统、起吊载荷动态匹配系统、下部风机定位对中系统、起吊系统，As shown in Figures 1 to 4, a multi-degree-of-freedom compensation offshore wind turbine overall hoisting device includes a hull 24, a hanger platform 22 is installed near the bow of the hull 24, and a hanger platform 22 is installed above the hanger platform 22. The hanger 1, the hull 24 adopts a catamaran structure, and the hanger platform 22 is elevated across the catamaran structure and installed near the bow of the hull, and also includes a motion compensation system for the upper lifting point and a dynamic matching of the lifting load. system, lower fan positioning and centering system, lifting system,
所述上部吊点运动补偿系统活动安装在所述船体的吊架1上段朝向船尾的一侧，包括一端通过万向铰链活动连接吊架1的可伸缩吊臂2、驱动可伸缩吊臂2自由端绕万向铰链上下左右摆动的液压驱动装置；The upper lifting point motion compensation system is movably installed on the side of the upper part of the hanger 1 of the hull facing the stern, including a telescopic boom 2 that is movably connected to the hanger 1 at one end through a universal hinge, and drives the telescopic boom 2 to move freely. A hydraulic drive device that swings up and down around the universal hinge;
所述起吊载荷动态匹配系统一端连接可伸缩吊臂2中部，另一端绕过设置在吊架1顶端的滑轮机构后固定在吊架平台22上，用以动态地平衡可伸缩吊臂2自由端的受力；One end of the lifting load dynamic matching system is connected to the middle part of the telescopic boom 2, and the other end is fixed on the hanger platform 22 after bypassing the pulley mechanism arranged at the top of the hanger 1, so as to dynamically balance the free end of the telescopic boom 2. Force;
所述下部风机定位系统包括用于夹固风机立柱底部的下平衡梁9、固定在在船体24上且通过定位牵索11连接下平衡梁9底部四角的四台定位绞车12；The lower fan positioning system includes a lower balance beam 9 for clamping the bottom of the fan column, four positioning winches 12 fixed on the hull 24 and connected to the four corners of the bottom of the lower balance beam 9 through positioning cables 11;
所述起吊系统包括通过锁扣装置夹固风机立柱的上平衡梁14和固定在吊架平台22上的起吊绞车18，缠在起吊绞车18上的起吊索16自由端绕过设置在可伸缩吊臂2上的滑轮机构后连接上平衡梁14两端，所述上平衡梁14的底部通过钢缆23连接下平衡梁9。The hoisting system includes the upper balance beam 14 clamping the fan column through the locking device and the hoisting winch 18 fixed on the hanger platform 22, and the free end of the hoisting rope 16 wound on the hoisting winch 18 is bypassed and arranged on the telescopic hoist. The pulley mechanism on the arm 2 is then connected to both ends of the upper balance beam 14 , and the bottom of the upper balance beam 14 is connected to the lower balance beam 9 through a steel cable 23 .
具体地，如图4至图6所示，所述上部吊点运动补偿系统包括两个可伸缩吊臂2，两个可伸缩吊臂2分别通过球铰链19左右对称地安装在所述船体的吊架1的左右立柱20上，通过控制所述可伸缩吊臂2的伸缩运动来实现吊点沿船舶纵向方向的运动补偿，所述液压驱动装置包括两个水平补偿液压缸3和两个垂向补偿液压缸4，所述水平补偿液压缸3和所述可伸缩吊臂2布置在同一水平面上，两个水平补偿液压缸3的一端分别通过球铰链19与吊架1的上横梁21中部相连接，另一端分别与两个可伸缩吊臂2内侧面铰接，通过控制水平补偿液压缸的伸缩运动来带动可伸缩吊臂做水平方向的转动，实现吊点沿船舶横向方向的运动补偿，所述垂向补偿液压缸4安装在所述可伸缩吊臂2的正下方，两个垂向补偿液压缸4的一端分别通过球铰链与船体吊架1的左右立柱20相连，另一端分别与两个可伸缩吊臂2下侧面铰接，通过所述垂向补偿液压缸的伸缩运动来驱动可伸缩吊臂垂直方向转动，以此实现吊点垂直方向的运动补偿。总体说来，所述吊点运动补偿系统通过控制所述可伸缩吊臂2的上下、左右转动及前后伸缩运动来实现上部吊点的前后、左右、上下运动补偿，从而降低风浪因素对吊点的扰动，使上部吊点始终保持相对稳定状态。Specifically, as shown in Figures 4 to 6, the upper suspension point motion compensation system includes two telescopic booms 2, and the two telescopic booms 2 are symmetrically installed on the left and right sides of the hull through ball joints 19. On the left and right columns 20 of the hanger 1, the movement compensation of the lifting point along the longitudinal direction of the ship is realized by controlling the telescopic movement of the telescopic boom 2. The hydraulic drive device includes two horizontal compensation hydraulic cylinders 3 and two vertical compensation cylinders. To the compensation hydraulic cylinder 4, the horizontal compensation hydraulic cylinder 3 and the telescopic boom 2 are arranged on the same horizontal plane. The other ends are respectively hinged with the inner sides of the two telescopic booms 2, and the telescopic boom is driven to rotate in the horizontal direction by controlling the telescopic movement of the horizontal compensation hydraulic cylinder, so as to realize the motion compensation of the lifting point along the transverse direction of the ship. The vertical compensation hydraulic cylinder 4 is installed directly below the telescopic boom 2, and one end of the two vertical compensation hydraulic cylinders 4 is respectively connected to the left and right columns 20 of the hull hanger 1 through a ball hinge, and the other end is connected to the left and right columns of the hull hanger 1 respectively. The lower sides of the two telescopic booms 2 are hinged, and the telescopic movement of the vertical compensation hydraulic cylinder is used to drive the telescopic booms to rotate in the vertical direction, thereby realizing motion compensation in the vertical direction of the lifting point. Generally speaking, the suspension point motion compensation system realizes the front, rear, left and right, up and down motion compensation of the upper suspension point by controlling the up and down, left and right rotation and front and rear telescopic movement of the telescopic boom 2, thereby reducing the impact of wind and wave factors on the suspension point. The disturbance keeps the upper lifting point in a relatively stable state.
具体地，如图5所示，所述起吊载荷动态匹配系统包括两根主承载钢缆5、两根主承载弹簧6、两个主承载液压缸7和两个滑轮8，所述主承载钢缆5一端与所述可伸缩吊臂2的中上部连接，另一端绕过吊架1的左右立柱20顶部的滑轮8后，通过所述主承载弹簧6和所述主承载液压缸7相连，所述主承载液压缸7再通过球铰链19与吊架平台22相连，通过实时控制所述主承载液压缸7的伸缩来实现所述主承载钢缆5的拉力与起吊载荷的动态匹配，从而最大限度降低所述垂向补偿液压缸4的受力，因此大大提高了垂向补偿液压缸4的响应速度，使风机在垂直方向的升沉补偿响应迅速，从而使风机和基础的垂向抨击这一关键问题得到最大的限制。Specifically, as shown in Figure 5, the dynamic matching system for lifting loads includes two main bearing steel cables 5, two main bearing springs 6, two main bearing hydraulic cylinders 7 and two pulleys 8, the main bearing steel One end of the cable 5 is connected to the middle and upper part of the telescopic boom 2, and the other end bypasses the pulleys 8 on the top of the left and right columns 20 of the hanger 1, and is connected to the main bearing hydraulic cylinder 7 through the main bearing spring 6, The main bearing hydraulic cylinder 7 is connected to the hanger platform 22 through a ball joint 19, and the dynamic matching between the pulling force of the main bearing steel cable 5 and the lifting load is realized by controlling the expansion and contraction of the main bearing hydraulic cylinder 7 in real time, so that The force of the vertical compensation hydraulic cylinder 4 is minimized, so the response speed of the vertical compensation hydraulic cylinder 4 is greatly improved, and the heave compensation of the fan in the vertical direction responds quickly, so that the vertical impact of the fan and the foundation This critical issue is maximally constrained.
本实施例中，通过实时检测垂向补偿液压缸4的受力作为主承载液压缸7的反馈控制信号。其工作原理是：当垂向补偿液压缸4受压时，主承载液压缸7往回缩并拉伸主承载弹簧6，使主承载钢缆5增加拉力，以此来分担垂向补偿液压缸4的承载力，使其所受压力变小；当垂向补偿液压缸4受拉时，主承载液压缸7往前伸长，减少主承载弹簧6的拉伸量，并使主承载钢缆5的拉力变小，以此来释放垂向补偿液压缸4的拉力，使其所受拉力变小。换种说法就是，当所述垂向补偿液压缸4往上顶使所述可伸缩吊臂2向上转动时，所述起吊载荷动态匹配系统能检测到所述垂向补偿液压缸4的压应力，马上协助所述垂向补偿液压缸4一起往上拉，使所述可伸缩吊臂2向上转动；当所述垂向补偿液压缸4往下拉使所述可伸缩吊臂2向下转动时，所述起吊载荷动态匹配系统检测到所述垂向补偿液压缸4的拉应力，马上减少自身的拉力以配合所述垂向补偿液压缸4，使所述可伸缩吊臂2迅速向下转动，因此两种情况都大大增加了所述垂向补偿液压缸4的响应速度。In this embodiment, the force of the vertical compensation hydraulic cylinder 4 is detected in real time as the feedback control signal of the main bearing hydraulic cylinder 7 . Its working principle is: when the vertical compensation hydraulic cylinder 4 is under pressure, the main bearing hydraulic cylinder 7 retracts and stretches the main bearing spring 6, so that the main bearing steel cable 5 increases the tension, so as to share the vertical compensation hydraulic cylinder 4, so that the pressure on it becomes smaller; when the vertical compensation hydraulic cylinder 4 is pulled, the main bearing hydraulic cylinder 7 stretches forward, reducing the stretching amount of the main bearing spring 6, and making the main bearing steel cable The pulling force of 5 becomes smaller, releases the pulling force of vertical compensating hydraulic cylinder 4 with this, makes its suffer pulling force smaller. In other words, when the vertical compensation hydraulic cylinder 4 pushes up to make the telescopic boom 2 rotate upward, the lifting load dynamic matching system can detect the compressive stress of the vertical compensation hydraulic cylinder 4 , immediately assist the vertical compensation hydraulic cylinder 4 to pull up together, so that the telescopic boom 2 turns upward; when the vertical compensation hydraulic cylinder 4 pulls down to make the telescopic boom 2 turn downward , the lifting load dynamic matching system detects the tensile stress of the vertical compensation hydraulic cylinder 4, and immediately reduces its own tension to cooperate with the vertical compensation hydraulic cylinder 4, so that the telescopic boom 2 rotates downward quickly , so both cases greatly increase the response speed of the vertical compensation hydraulic cylinder 4 .
具体地，如图7所示，所述下平衡梁9中部通过夹紧装置锁死风机立柱底部，两端则依次通过四个所述弹簧缓冲器10、两对呈八字布置的所述定位牵索11绕过滑轮8后连接到四台所述定位绞车12上，通过控制四根所述定位牵索11的收放来带动风机底部产生水平面的移动和绕垂直轴的转动，从而增加了风机底部的可控性，大大减少了传统吊装船上风机的“单摆运动”，并以此来实现风机底部和风机基础的准确定位与对中。Specifically, as shown in FIG. 7 , the middle part of the lower balance beam 9 locks the bottom of the fan column through a clamping device, and the two ends pass through four spring buffers 10 and two pairs of positioning pulleys arranged in a figure-eight arrangement. The cable 11 is connected to the four positioning winches 12 after bypassing the pulley 8, and the movement of the horizontal plane and the rotation around the vertical axis at the bottom of the fan are driven by controlling the retraction and retraction of the four positioning cables 11, thereby increasing the fan speed. The controllability of the bottom greatly reduces the "single pendulum movement" of the wind turbine on the traditional hoisting ship, and uses this to realize the accurate positioning and alignment of the bottom of the wind turbine and the foundation of the wind turbine.
本实施例中，通过收紧其中两根对角线上的所述定位牵索11，可使风机绕垂直轴做某个方向的转动，而收紧另外两根对角线上的所述定位牵索11，则可产生相反方向的转动；需要平移时，则通过收紧相邻两根所述定位牵索11来实现。In this embodiment, by tightening the positioning cables 11 on two of the diagonals, the fan can be rotated in a certain direction around the vertical axis, while tightening the positioning cables 11 on the other two diagonals. The guy wires 11 can rotate in the opposite direction; when translation is required, it can be realized by tightening two adjacent positioning guy wires 11 .
总之，本实施例通过设置上部吊点运动补偿系统和下部风机定位系统，使风机13上下部位置都能得到控制，并在两个系统的联合作用下，可使风机13产生六个自由度的运动，从而大大增加了风机的可控性和灵活性。In a word, in this embodiment, by setting the upper lifting point motion compensation system and the lower fan positioning system, the upper and lower positions of the fan 13 can be controlled, and under the joint action of the two systems, the fan 13 can generate six degrees of freedom. Movement, thus greatly increasing the controllability and flexibility of the fan.
具体地，如图4、图5所示，所述上平衡梁14中部通过锁扣装置扶稳风机立柱，所述上平衡梁14两端下部通过四根钢缆23和所述下平衡梁9相连，所述上平衡梁14两端上部通过吊环分别与两个吊钩15相连，每个所述吊钩15由所述起吊索16经可伸缩吊臂2上的若干滑轮8连接到所述起吊绞车18。Specifically, as shown in Fig. 4 and Fig. 5, the middle part of the upper balance beam 14 stabilizes the fan column through a locking device, and the lower parts of the two ends of the upper balance beam 14 pass four steel cables 23 and the lower balance beam 9 The upper parts of the two ends of the upper balance beam 14 are respectively connected with two hooks 15 through lifting rings. Lifting winch 18.
另外，还包括两个中间设置有转动关节的V型吊索撑杆17，所述吊索撑杆17两端通过设有铰轴的转动关节活动连接在可伸缩吊臂2两端的内侧面，所述吊索撑杆17的每个转动关节上都安装有滑轮8供所述起吊索16依次通过，所述吊索撑杆17 在垂直面上随可伸缩吊臂的伸缩而开合，使可伸缩吊臂2的伸缩运动与起吊系统解耦，在起吊系统不动作的情况下，可伸缩吊臂2的水平伸缩运动并不会影响到风机垂直方向的高度变化。In addition, it also includes two V-shaped sling struts 17 with rotating joints in the middle, and the two ends of the slinging struts 17 are movably connected to the inner surfaces of the two ends of the telescopic boom 2 through the rotating joints provided with hinge shafts. A pulley 8 is installed on each rotating joint of the sling strut 17 for the sling 16 to pass through in turn, and the sling strut 17 opens and closes with the expansion and contraction of the telescopic boom on the vertical plane, so that The telescopic movement of the telescopic boom 2 is decoupled from the hoisting system, and the horizontal telescopic movement of the telescopic boom 2 will not affect the vertical height change of the wind turbine when the hoisting system does not operate.
本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。The above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in different forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.
Claims (7)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510753740.7A CN105293306A (en) | 2015-11-04 | 2015-11-04 | Integral offshore wind turbine hoisting device achieving multi-freedom-degree compensation |
| CN2015107537407 | 2015-11-04 |
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| CN106741617A (en) * | 2017-01-03 | 2017-05-31 | 深圳市云洲创新科技有限公司 | Supporting structure and ship |
| CN108298428A (en) * | 2018-01-27 | 2018-07-20 | 天津大学 | The experimental rig of ship's crane anti-shake and heave compensation |
| CN109292647A (en) * | 2018-11-16 | 2019-02-01 | 山东大学 | An active rigid-flexible hybrid wave motion compensation device and its control method |
| JP2020030051A (en) * | 2018-08-20 | 2020-02-27 | Ｊｆｅスチール株式会社 | Automatic driving device and automatic driving method for indoor crane |
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| CN115196521A (en) * | 2022-09-15 | 2022-10-18 | 山东交通学院 | A control system for adjusting marine hoisting equipment using ship stability |
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| CN106741617A (en) * | 2017-01-03 | 2017-05-31 | 深圳市云洲创新科技有限公司 | Supporting structure and ship |
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| CN108298428A (en) * | 2018-01-27 | 2018-07-20 | 天津大学 | The experimental rig of ship's crane anti-shake and heave compensation |
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| CN109292647A (en) * | 2018-11-16 | 2019-02-01 | 山东大学 | An active rigid-flexible hybrid wave motion compensation device and its control method |
| CN113291985A (en) * | 2021-05-12 | 2021-08-24 | 江苏神力船舶设备有限公司 | Movable small suspender equipment for ship |
| CN113291985B (en) * | 2021-05-12 | 2023-12-29 | 盐城神力制绳有限公司 | Small boom moving equipment for ship |
| CN115196521A (en) * | 2022-09-15 | 2022-10-18 | 山东交通学院 | A control system for adjusting marine hoisting equipment using ship stability |
| CN115196521B (en) * | 2022-09-15 | 2022-11-25 | 山东交通学院 | Control system for adjusting marine hoisting equipment by using ship stability |
| CN116281665A (en) * | 2023-03-23 | 2023-06-23 | 中国石油天然气集团有限公司 | Device and method for precise control of wellhead hoisting position |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105293306A (en) | 2016-02-03 |
| CN106044585B (en) | 2017-10-20 |
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