CN111806625A - Offshore wind power operation and maintenance ship mooring system and working method thereof - Google Patents
Offshore wind power operation and maintenance ship mooring system and working method thereof Download PDFInfo
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- CN111806625A CN111806625A CN202010819470.6A CN202010819470A CN111806625A CN 111806625 A CN111806625 A CN 111806625A CN 202010819470 A CN202010819470 A CN 202010819470A CN 111806625 A CN111806625 A CN 111806625A
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- mechanical arm
- telescopic
- offshore wind
- wind power
- output shaft
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- 238000012423 maintenance Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 7
- 210000000078 claw Anatomy 0.000 claims description 5
- 230000017525 heat dissipation Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 239000013535 sea water Substances 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
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a mooring system of an offshore wind power operation and maintenance ship and a working method of the mooring system, and belongs to the technical field of offshore wind power operation and maintenance. The device comprises a fixing device, a telescopic mechanical arm, a fixing mechanical arm, a telescopic mechanism, a slip ring and core sliding mechanism and a spherical motor driving device; the telescopic mechanical arm is nested in the fixed mechanical arm, one end of the telescopic mechanical arm is connected with the fixing device, and the other end of the telescopic mechanical arm is connected with the telescopic mechanism; the fixed mechanical arm is connected with a slip ring of the slip ring and slip core mechanism; the spherical motor driving device comprises a rotor output shaft, and the rotor output shaft penetrates through a sliding core of the sliding ring and sliding core mechanism to be connected with the telescopic mechanism; the spherical motor driving device is fixed on the hull of the offshore wind power operation and maintenance ship. The system is reasonable in structural design, the marine operation and maintenance ship can be quickly and accurately connected with the target wind turbine generator, and the efficiency and reliability of the marine wind turbine generator operation and maintenance are improved.
Description
Technical Field
The invention belongs to the technical field of offshore wind power operation and maintenance, and particularly relates to a mooring system of an offshore wind power operation and maintenance ship and a working method thereof.
Background
The operation and maintenance of the offshore wind farm mainly depend on offshore operation and maintenance ships, and when the ships enter a water area within a range of several meters of a target wind turbine generator set, the ships need to be connected with a ship body and a fan by means of an approach system (the approach system may comprise a boarding system and a mooring system according to the size and the requirement of the ships) so as to achieve the purposes of fixing the ship body, carrying personnel or small parts, maintaining tools and the like. Due to the fact that conditions on the sea surface are complex and changeable, a proximity system of the offshore operation and maintenance ship needs to establish stable connection between a ship body and a specific component of a fan, and therefore mooring efficiency and mooring accuracy are guaranteed.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a mooring system of an offshore wind power operation and maintenance ship and a working method thereof, which have reasonable structural design, can enable the offshore wind power operation and maintenance ship to be quickly and accurately connected with a target wind power unit, and improve the efficiency and reliability of offshore wind power operation and maintenance.
The invention is realized by the following technical scheme:
the invention discloses a mooring system of an offshore wind power operation and maintenance ship, which comprises a fixing device, a telescopic mechanical arm, a fixed mechanical arm, a telescopic mechanism, a slip ring and core sliding mechanism and a spherical motor driving device, wherein the telescopic mechanism is arranged on the fixed mechanical arm; the telescopic mechanical arm is nested in the fixed mechanical arm, one end of the telescopic mechanical arm is connected with the fixing device, and the other end of the telescopic mechanical arm is connected with the telescopic mechanism; the fixed mechanical arm is connected with a slip ring of the slip ring and slip core mechanism; the spherical motor driving device comprises a rotor output shaft, and the rotor output shaft penetrates through a sliding core of the sliding ring and sliding core mechanism to be connected with the telescopic mechanism; the spherical motor driving device is fixed on the hull of the offshore wind power operation and maintenance ship.
Preferably, the spherical motor driving device further comprises an output shaft flange, a stator concentrated winding, a rotor sphere, a stator shell and a base; the rotor sphere is arranged in the stator shell, a plurality of stator concentrated windings are arranged between the rotor sphere and the stator shell, the rotor sphere is connected with the rotor output shaft, the rotor output shaft is connected with an output shaft flange, the output shaft flange is connected with a telescopic mechanism, the stator shell is connected with the base, and the base is connected with the ship body of the offshore wind power operation and maintenance ship.
Preferably, the spherical motor driving device is externally provided with a protective cover.
Further preferably, the protective cover is provided with heat dissipation holes.
Preferably, the securing means is a mechanical claw ring or a mechanical catch.
Preferably, the fixation device is provided with a non-slip layer.
Preferably, the telescoping mechanism is a lead screw nut drive system or a hydraulic drive system.
Preferably, a limiting device is arranged between the telescopic mechanical arm and the fixed mechanical arm.
Preferably, a hydraulic buffer is arranged between the telescopic mechanism and the rotor output shaft.
The invention discloses a working method of the mooring system of the offshore wind power operation and maintenance ship, which comprises the following steps:
when the offshore operation and maintenance ship enters a water area near a target wind turbine, the spherical motor driving device enables the fixing device to be aligned to a specific component on the target wind turbine through pitching and yawing motions, and the telescopic mechanism extends to enable the telescopic mechanical arm to extend out of the fixing mechanical arm; meanwhile, through the autorotation motion of the spherical motor driving device, the rotor output shaft rotates in the slip ring and core sliding mechanism, so that the telescopic mechanical arm is driven to rotate, the angle of the fixing device is adjusted, and finally the fixing device is connected with a specific component on the target wind turbine generator.
Compared with the prior art, the invention has the following beneficial technical effects:
the mooring system of the offshore wind power operation and maintenance ship disclosed by the invention combines the spherical motor driving device, the telescopic mechanism and the mechanical arm, the spherical motor is high in integration level and small in size and weight, accurate positioning in space can be realized through three-degree-of-freedom motion of autorotation, pitching and yawing, and the fixing device can be quickly and accurately connected with a specific component on a target wind turbine generator set by matching with the telescopic motion of the telescopic mechanism. The rigidity of the system is increased by the fixing mechanical arm, and the stability and the reliability of connection are improved. The system has reasonable structural design and simple operation, can ensure that the offshore operation and maintenance ship can be quickly and accurately connected with the target wind turbine generator, and improves the efficiency and reliability of offshore wind turbine operation and maintenance.
Furthermore, the protective cover is arranged outside the spherical motor driving device, damage to the spherical motor driving device from the marine environment can be reduced, and the service life of the equipment is prolonged.
Furthermore, the heat dissipation holes in the protective cover can improve heat dissipation performance and prolong the service life of the motor.
Furthermore, the fixing device adopts a mechanical claw ring or a mechanical lock catch, and has reliable structure and simple and convenient operation.
Furthermore, the fixing device is provided with an anti-slip layer, so that the connection stability is improved, and severe jolt caused by sea surface fluctuation is avoided.
Furthermore, the telescopic mechanism adopts a lead screw nut transmission system or a hydraulic transmission system, so that the transmission efficiency is high, and the quick positioning of the system can be realized.
Furthermore, a limiting device is arranged between the telescopic mechanical arm and the fixed mechanical arm, so that the telescopic mechanical arm can be prevented from causing system faults due to the fact that the sea surface is unstable and extends out of a overlong range.
Furthermore, a hydraulic buffer is arranged between the telescopic mechanism and the rotor output shaft, so that the damage of the mechanism caused by rigid collision in the axial direction due to sea surface fluctuation is prevented, and the safety of the system is improved.
The working method of the mooring system of the offshore wind power operation and maintenance ship disclosed by the invention is simple and convenient to operate, can enable the offshore operation and maintenance ship to quickly and accurately establish reliable connection with the target wind turbine generator set, improves the efficiency and reliability of offshore wind power operation and maintenance, is low in operation and maintenance cost, and has good application prospect
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a spherical motor driving device according to the present invention;
fig. 3 is a schematic diagram of the working process of the present invention.
In the figure: the device comprises a fixing device 1, a telescopic mechanical arm 2, a fixing mechanical arm 3, a telescopic mechanism 4, a slip ring and sliding core mechanism 5, a spherical motor driving device 6, an output shaft flange 6-1, a rotor output shaft 6-2, a stator concentrated winding 6-3, a rotor sphere 6-4, a stator shell 6-5, a base 6-6 and a protective cover 7.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings, which are included to illustrate and not to limit the invention:
as shown in fig. 1, the mooring system of the offshore wind power operation and maintenance ship of the present invention comprises a fixing device 1, a telescopic mechanical arm 2, a fixed mechanical arm 3, a telescopic mechanism 4, a slip ring and slide core mechanism 5 and a spherical motor driving device 6; the telescopic mechanical arm 2 is nested inside the fixed mechanical arm 3, the fluctuation of the sea surface is considered to be indefinite, the limiting device is arranged between the telescopic mechanical arm 2 and the fixed mechanical arm 3, and the telescopic mechanical arm can be prevented from causing system faults because the sea surface is not stably extended for a long time. One end of the telescopic mechanical arm 2 is connected with the fixing device 1, the fixing device 1 can adopt a mechanical claw ring or a mechanical lock catch, an anti-slip layer is arranged outside the mechanical claw ring or the mechanical lock catch, the material can be rubber, high polymer material and the like, and severe jolting caused by sea surface fluctuation is avoided. The other end of the telescopic mechanical arm 2 is connected with a telescopic mechanism 4, and the telescopic mechanism 4 can adopt a lead screw nut transmission system or a hydraulic transmission system. The fixed mechanical arm 3 is connected with a slip ring of the slip ring and slip core mechanism 5;
as shown in fig. 2, the spherical motor driving device 6 further comprises an output shaft flange 6-1, a rotor output shaft 6-2, a stator concentrated winding 6-3, a rotor sphere 6-4, a stator shell 6-5 and a base 6-6; the rotor sphere 6-4 is arranged in the stator shell 6-5, a plurality of stator concentrated windings 6-3 are arranged between the rotor sphere 6-4 and the stator shell 6-5, the rotor sphere 6-4 is connected with the rotor output shaft 6-2, the rotor output shaft 6-2 penetrates through the sliding core of the sliding ring sliding core mechanism 5 to be connected with the output shaft flange 6-1, the output shaft flange 6-1 is connected with the telescopic mechanism 4, and preferably, a hydraulic buffer is arranged between the telescopic mechanism 4 and the output shaft flange 6-1, so that the mechanism damage caused by rigid collision in the axial direction due to sea surface fluctuation is prevented, and the safety of the system is improved. The stator shell 6-5 is connected with the base 6-6, and the base 6-6 is connected with the hull of the offshore wind power operation and maintenance ship.
In order to cope with the severe environment on the sea surface, the protective cover 7 is arranged outside the spherical motor driving device 6, so that the erosion of dust and seawater can be prevented, and the service life of the motor is prolonged; set up the louvre simultaneously on protection casing 7, improve heat dispersion.
The mooring system of the offshore wind power operation and maintenance ship is in operation:
as shown in fig. 3, when the marine operation and maintenance ship enters a water area near a target wind turbine, the spherical motor driving device 6 makes the fixing device 1 aim at a specific component on the target wind turbine through pitching and yawing motions, and the telescopic mechanism 4 extends to make the telescopic mechanical arm 2 extend out of the fixed mechanical arm 3; meanwhile, through the autorotation motion of the spherical motor driving device 6, the rotor output shaft 6-2 rotates in the slip ring core sliding mechanism 5, so that the telescopic mechanical arm 2 is driven to rotate, the angle of the fixing device 1 is adjusted, and finally the fixing device 1 is connected with a specific component on a target wind turbine generator.
The above description is only a part of the embodiments of the present invention, and although some terms are used in the present invention, the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the invention and are to be construed as any additional limitation which is not in accordance with the spirit of the invention. The foregoing is merely an illustration of the present invention for the purpose of providing an easy understanding and is not intended to limit the present invention to the particular embodiments disclosed herein, and any technical extensions or innovations made herein are protected by the present invention.
Claims (10)
1. A mooring system of an offshore wind power operation and maintenance ship is characterized by comprising a fixing device (1), a telescopic mechanical arm (2), a fixing mechanical arm (3), a telescopic mechanism (4), a slip ring and slide core mechanism (5) and a spherical motor driving device (6); the telescopic mechanical arm (2) is nested inside the fixed mechanical arm (3), one end of the telescopic mechanical arm (2) is connected with the fixing device (1), and the other end of the telescopic mechanical arm is connected with the telescopic mechanism (4); the fixed mechanical arm (3) is connected with a slip ring of the slip ring and slip core mechanism (5); the spherical motor driving device (6) comprises a rotor output shaft (6-2), and the rotor output shaft (6-2) penetrates through a sliding core of the slip ring sliding core mechanism (5) to be connected with the telescopic mechanism (4); the spherical motor driving device (6) is fixed on the hull of the offshore wind power operation and maintenance ship.
2. An offshore wind power operation and maintenance ship mooring system according to claim 1, characterized in that the spherical motor drive unit (6) further comprises an output shaft flange (6-1), a stator concentrated winding (6-3), a rotor sphere (6-4), a stator housing (6-5) and a base (6-6); the rotor sphere (6-4) is arranged in the stator shell (6-5), a plurality of stator concentrated windings (6-3) are arranged between the rotor sphere (6-4) and the stator shell (6-5), the rotor sphere (6-4) is connected with the rotor output shaft (6-2), the rotor output shaft (6-2) is connected with an output shaft flange (6-1), the output shaft flange (6-1) is connected with the telescopic mechanism (4), the stator shell (6-5) is connected with the base (6-6), and the base (6-6) is connected with the hull of the offshore wind power operation and maintenance ship.
3. Offshore wind turbine vessel mooring system according to claim 1, wherein the spherical motor drive (6) is externally provided with a protective cover (7).
4. Offshore wind power vessel mooring system according to claim 3, wherein the protective cover (7) is provided with heat dissipation holes.
5. Offshore wind turbine vessel mooring system according to claim 1, wherein the securing means (1) is a mechanical claw ring or a mechanical catch.
6. Offshore wind power vessel mooring system according to claim 1, characterized in that the fixing means (1) is provided with an anti-slip layer.
7. Offshore wind power vessel mooring system according to claim 1, wherein the telescoping mechanism (4) is a lead screw nut drive system or a hydraulic drive system.
8. Offshore wind power vessel mooring system according to claim 1, characterized in that a stop device is provided between the telescopic robot arm (2) and the fixed robot arm (3).
9. Offshore wind turbine vessel mooring system according to claim 1, wherein a hydraulic buffer is provided between the telescoping mechanism (4) and the rotor output shaft (6-2).
10. The working method of the mooring system of the offshore wind power operation and maintenance ship according to any one of claims 1-9, characterized by comprising the following steps:
when the offshore operation and maintenance ship enters a water area near a target wind turbine, the spherical motor driving device (6) moves in a pitching and yawing mode to enable the fixing device (1) to be aligned to a specific component on the target wind turbine, and the telescopic mechanism (4) extends to enable the telescopic mechanical arm (2) to extend out of the fixing mechanical arm (3); meanwhile, the rotor output shaft (6-2) rotates in the slip ring sliding core mechanism (5) through the autorotation motion of the spherical motor driving device (6), so that the telescopic mechanical arm (2) is driven to rotate, the angle of the fixing device (1) is adjusted, and finally the fixing device (1) is connected with a specific component on a target wind turbine generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010819470.6A CN111806625B (en) | 2020-08-14 | 2020-08-14 | Offshore wind power operation and maintenance ship mooring system and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010819470.6A CN111806625B (en) | 2020-08-14 | 2020-08-14 | Offshore wind power operation and maintenance ship mooring system and working method thereof |
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| Publication Number | Publication Date |
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| CN111806625A true CN111806625A (en) | 2020-10-23 |
| CN111806625B CN111806625B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010819470.6A Active CN111806625B (en) | 2020-08-14 | 2020-08-14 | Offshore wind power operation and maintenance ship mooring system and working method thereof |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1122976A (en) * | 1965-10-28 | 1968-08-07 | James Andrew Cashin | Ship's mooring device |
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| US20090320735A1 (en) * | 2006-07-20 | 2009-12-31 | Pedro Jimenez Del Amo | Device for Suspending Mooring Lines between a Vessel and a Dock |
| WO2011019120A1 (en) * | 2009-08-12 | 2011-02-17 | 한국과학기술원 | Docking system of ship and docking method of ship using same |
| CN102649465A (en) * | 2011-02-23 | 2012-08-29 | 蓝水能源服务有限公司 | Disconnectable mooring system and method for disconnecting or reconnecting it |
| US20170040861A1 (en) * | 2016-03-16 | 2017-02-09 | Kuokwa Ho | Steering hub system driven by ball joint universal rotary motor |
| CN110086311A (en) * | 2019-05-24 | 2019-08-02 | 安徽大学 | A kind of magnetic resistance type globular motor of rotor salient pole type structure |
| CN111071394A (en) * | 2020-01-06 | 2020-04-28 | 江苏现代造船技术有限公司 | Offshore wind power operation and maintenance ship boarding device and method |
| CN212290207U (en) * | 2020-08-14 | 2021-01-05 | 中国华能集团清洁能源技术研究院有限公司 | Mooring system of offshore wind power operation and maintenance ship |
-
2020
- 2020-08-14 CN CN202010819470.6A patent/CN111806625B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1122976A (en) * | 1965-10-28 | 1968-08-07 | James Andrew Cashin | Ship's mooring device |
| US20090320735A1 (en) * | 2006-07-20 | 2009-12-31 | Pedro Jimenez Del Amo | Device for Suspending Mooring Lines between a Vessel and a Dock |
| CN101282070A (en) * | 2008-05-12 | 2008-10-08 | 天津大学 | Three-freedom Halback array permanent magnetism sphericity synchronous motor |
| WO2011019120A1 (en) * | 2009-08-12 | 2011-02-17 | 한국과학기술원 | Docking system of ship and docking method of ship using same |
| CN102649465A (en) * | 2011-02-23 | 2012-08-29 | 蓝水能源服务有限公司 | Disconnectable mooring system and method for disconnecting or reconnecting it |
| US20170040861A1 (en) * | 2016-03-16 | 2017-02-09 | Kuokwa Ho | Steering hub system driven by ball joint universal rotary motor |
| CN110086311A (en) * | 2019-05-24 | 2019-08-02 | 安徽大学 | A kind of magnetic resistance type globular motor of rotor salient pole type structure |
| CN111071394A (en) * | 2020-01-06 | 2020-04-28 | 江苏现代造船技术有限公司 | Offshore wind power operation and maintenance ship boarding device and method |
| CN212290207U (en) * | 2020-08-14 | 2021-01-05 | 中国华能集团清洁能源技术研究院有限公司 | Mooring system of offshore wind power operation and maintenance ship |
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|---|---|
| CN111806625B (en) | 2024-06-04 |
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