EP3424865A1 - Drive of an offshore crane with optional gangway - Google Patents

Abstract

The invention relates to a crane, in particular an offshore crane. A first crane part (1, 2, 6, 7) and a second crane part (1, 2, 6, 7) are adjustable by means of a drive with respect to a rotation axis (101, 102, 103, 104, 105). The drive has according to the invention at least one segment motor. A rotational movement about the axis of rotation (101, 102, 103, 104, 105) by means of the segment motor is used according to the invention for sea state compensation. In one embodiment, a horizontal arm (6, 7) of the crane is designed as a web or gangway.

Description

The invention relates to a crane having at least a first crane part and at least one second crane part connected to the first crane part, wherein the second crane part is adjustable relative to the first crane part by means of a drive with respect to a rotation axis.

Such cranes are used, for example, on ships carrying out service operations on the high seas or in offshore areas to lower loads and to build or maintain offshore wind farms or rigs. The ships are exposed to waves, wind and currents on the open sea and thus oscillate back and forth permanently in a horizontal as well as in a vertical direction.

From the patent EP2675701B1 An active sea state compensation system is known which comprises a motor generator, an electrical storage element, a power supply unit and a control unit. The motor generator cooperates with a load so as to drive the load in a first part of a sea cycle and to regenerate at least a portion of an energy with which the load has been driven in a second part of the sea cycle. The electric storage element stores the regenerated energy. The power supply unit, which is electrically connected to the motor generator and the electrical storage element, provides electrical power to at least the motor generator. The control unit is configured to control the power supply unit so that an output voltage of the power supply unit, in synchronism with the sea state moving cycle, substantially follows a charging and discharging voltage cycle of the electrical storage element.

The patent EP2194017B1 describes an offshore crane comprising a base and a lift arm. A first proximal end of the lift arm is rotatably connected to the base and a second, distal end is rotatably connected to a crosscar arm. The rotatable connections permit angular movements of the lift arm and the crosscar arm in a substantially vertical direction. The Querwagenarm further includes a transverse carriage for the suspension and raising or lowering of a load and the reciprocating along the length of Querwagenarms. The rotatable connection between the Querwagenarm and the lift arm also allows an angular movement of the Querwagenarms in the lateral direction.

In the patent DE102004003730A1 An electric segment motor for generating a pivoting movement with a fixed stator and a pivotally mounted rotor will be described. The stator has at least one magnetic circuit excited by at least one electrical field coil. At least two permanent magnet elements are fastened to a wall segment-shaped wall section of the rotor, in particular a circular segment. The rotor is made of a base material, wherein the permanent magnet elements are embedded or molded in the base material.

Drive solutions according to the prior art, which accomplish a movement of such cranes, based on hydraulic concepts or other complex electrical drive architectures with wear-prone gear rims and gears. As high demands are placed on machine availability, performance and redundancy in the maritime environment, drive solutions for state-of-the-art swell-compensating offshore cranes are very complex and cost-intensive. High costs are mainly caused by frequent maintenance and the associated downtime.

The invention has for its object to provide a crane that has a low-maintenance and reliable drive.

The object is achieved by a crane having at least one first crane part and at least one second crane part connected to the first crane part, the second crane part being adjustable relative to the first crane part by means of a drive with respect to a rotation axis, the drive having at least one segment motor.

In addition, the object is achieved by using such a crane for sea state compensation, in particular for active sea state compensation.

A segment motor is a modular engine made up of stator and rotor segments. This modular design allows, for example, a scaling of a torque of the motor via a number of inserted stator and / or rotor segments and also has the advantage that the motor continues to fail in one or more stator and / or rotor segments with reduced dynamics and / or power Operation can remain and does not have to be switched off. In the case of an electrical winding closure this takes place due to a segmentation only in one of these segments. All other segments are not damaged and therefore functional. This property has a positive effect on the machine availability. The drive does not have to be provided with additional redundant motors, since it is designed by a cleverly chosen number of used stator and rotor segments already redundant. In the event of a fault, the segment motor can continue with reduced power. In addition, a damaged segment can be easily and locally replaced so that the segment motor is fully operational again after a short time. In an exemplary embodiment, the segment motor 20 includes segments. However, a segmentation in more or less segments is possible. The segment motor can be designed as an internal rotor motor or external rotor motor.

The invention describes a crane which has at least one first and at least one second crane part connected to the first. The second crane part is adjustable relative to the first crane part by means of a drive with respect to a rotation axis. According to the invention, this drive has at least one segment motor. A segment motor is advantageous for the drive, since it is designed as a gearless drive - also known as direct drive. A direct drive is a drive in which an electrical machine - here the segment motor - is directly connected to a unit to be driven. Since the electric machine is designed to meet the requirements of the unit to be driven, in particular with respect to a rotational speed, no transmission is interposed. By eliminating a gearbox and other mechanical intermediate components such as sprockets, the cost of their purchase and maintenance is eliminated and the mechanical complexity and assembly costs are reduced. Low investment costs and a reduction in operating costs translate into low total cost of ownership. In addition, the electric machine is very quiet during operation and can be manufactured in a compact design. The direct drive also allows an increased rigidity and dynamics of the motor can be achieved, since the unit to be driven can be mounted directly on a bearing of a drive shaft of the electric machine.

Advantageously, the crane has at least one base as the first crane part and at least one arm as the second crane part. A first end of the arm is rotatably connected to the base via a base-arm connection. The base-arm connection allows for rotational movement of the arm substantially about an axis of rotation. According to the invention, a segment motor performs this rotational movement.

The arm may in this case be designed as a vertical arm in a first embodiment or as a horizontal arm in a second embodiment.

In the first embodiment, the aforementioned vertical arm is an arm substantially vertical to the base. A first end of the vertical arm is connected to the base via a base-vertical arm connection, and a second end of the vertical arm is primarily for loading loads. The base vertical arm connection allows for pivotal movement of the vertical arm about a substantially vertical axis of the base.

Advantageously, the base-vertical arm connection also allows movement of the vertical arm about a substantially horizontal axis. This movement also advantageously carries out at least one segment motor on the basis of the positive properties already explained. For example, by means of a self-locking ball screw or a gear, a rotational movement of the segment motor can be transformed into a linear movement. However, the linear angular movement can also be carried out by means of a linear motor.

As a movable boom, the vertical arm is particularly well-suited for use by service vessels on the high seas, as the movements around different axles can be used to compensate for the swell of the sea, for example to safely load loads. Especially the execution of the movements by means of segment motors makes such a crane seaworthy, since segment motors are characterized by reliability and high machine availability. In the event of a fault, a segment motor does not switch off, but ensures operation with reduced power. This is particularly important on the open sea, where a maneuverable crane can pose a threat to the life and limb of his user or even a crew on the service ship.

In the second embodiment, the already mentioned horizontal arm is an arm arranged substantially horizontal to the base. The first end of the horizontal arm is connected to the base via a base-horizontal arm connection. The basic horizontal arm connection allows rotational movement of the horizontal arm substantially about the vertical axis of the base. According to the invention, this movement accomplishes at least one segment motor. Such a jib crane is particularly well suited for loading loads.

Advantageously, the base horizontal arm connection also allows at least one movement of the horizontal arm about a substantially horizontal axis of rotation. The movement is carried out according to the invention by means of a segment motor, but can also be accomplished by means of a linear motor.

The various axes of rotation are explained in more detail in the following description of the figures. According to the invention, all movements can be carried out individually or together with one or more other movements.

Also, such a horizontal arm is particularly well suited for use in the open sea due to a capability for sea state compensation. Running on, under, and / or next to the horizontal arm, or a jetty or gangway instead of the horizontal arm, service personnel can safely and quickly get from a service ship over the jetty to, for example, an offshore windmill. Such a bridge is optional.

Further, in an alternative embodiment of the crane, one end of the arm configured as a vertical arm may be connected to one end of at least one horizontal arm via a vertical arm horizontal arm linkage. The vertical arm horizontal arm connection allows for rotation of the horizontal arm about a substantially vertical axis of the vertical arm. According to the invention, the movement accomplishes at least one segment motor.

Advantageously, the vertical arm horizontal arm connection also allows movement of the horizontal arm about at least one substantially horizontal axis of rotation. The movement Due to its reliability and redundancy according to the invention performs a segment motor, but can also be performed by a linear motor.

Advantageously, the horizontal arm comprises at least a first horizontal arm section and at least a second horizontal arm section. The two sections are connected to each other via a horizontal arm horizontal arm connection.

Advantageously, the horizontal arm is made variable in its length. The horizontal arm horizontal arm connection is designed as a device that allows extension and retraction of at least one horizontal arm. Extending and retracting the horizontal arm advantageously carries out at least one segment motor. However, it is also possible here to use a linear motor.

A variable in its length running horizontal arm is particularly well as a dock or gangway, in particular, people can get from an offshore crane located on a ship, for example, an offshore wind turbine.

The crane described in the invention, including the various explanations explained is particularly well suited to sea state compensation, in particular for active sea state compensation. The movements performed by preferably directly driven segment motors can compensate for fluctuations in a service ship caused by waves, wind and currents, so that these variations do not transfer to the crane or the bridge. A safe loading of loads can be ensured. People walking over the jetty are not or only slightly affected by waves and currents. Preferably segment motors, which are used for cranes for swell compensation, at low sea speeds between one and ten revolutions per minute, with stronger to strong swell eleven to 60 revolutions per minute. Advantageously the segment motors have an output of 700 kW to 1 MW. However, a version with up to 10 MW is conceivable.

Segment motors are particularly well suited for offshore cranes with optional gangways, as segment motors can also handle certain mechanical requirements. For example, a diameter of the segment motor may be scaled by a number of inserted segments. In order to save material and thus costs or to adjust the performance, a length of the segment motor can be varied. In order to achieve a larger diameter, which allows, for example, a run-through of service employees, a partial assembly may be beneficial.

FIG 1

eine Ausgestaltung eines mit einer Basis drehbar verbundenen Vertikalarms,

FIG 2

eine Ausgestaltung eines mit einer Basis drehbar verbundenen Horizontalarms,

FIG 3

eine Ausgestaltung eines an einem Ende mit einer Basis drehbar verbundenen Vertikalarms, der zudem an einem anderen Ende mit einem Horizontalarm drehbar verbunden ist,

FIG 4

eine Ausgestaltung eines mit einer Basis drehbar verbundenen Vertikalarms, der zudem um eine horizontale Achse drehbar ist,

FIG 5

eine Ausgestaltung eines mit einer Basis drehbar verbundenen Horizontalarms, der zudem um wenigstens eine horizontale Achse drehbar ist,

FIG 6

eine Ausgestaltung eines an einem Ende mit einer Basis drehbar verbundenen Vertikalarms, der an einem anderen Ende mit einem Horizontalarm drehbar verbunden ist, wobei an den drehbaren Verbindungen zudem um wenigstens eine horizontale Achse gedreht werden kann,

FIG 7

eine Ausgestaltung eines mit einer Basis drehbar verbundenen Horizontalarms, wobei der Horizontalarm über zwei Horizontalarm-Teilstücke verfügt,

FIG 8

einen detaillierten Ausschnitt einer Ausgestaltung eines mit einer Basis drehbar verbundenen Vertikalarms,

FIG 9

einen auf einem Schiff angeordneten Offshore-Kran bei ruhiger See, und

FIG 10

einen auf einem Schiff angeordneten Offshore-Kran bei stürmischer See.

In the following, the crane described in the invention will be explained with reference to some examples. Show it:

FIG. 1

an embodiment of a rotatably connected to a base vertical arm,

FIG. 2

an embodiment of a horizontal arm rotatably connected to a base,

FIG. 3

an embodiment of a vertical arm rotatably connected at one end to a base, which is also rotatably connected to a horizontal arm at another end,

FIG. 4

an embodiment of a rotatably connected to a base vertical arm, which is also rotatable about a horizontal axis,

FIG. 5

an embodiment of a horizontally connected to a base horizontal arm, which is also rotatable about at least one horizontal axis,

FIG. 6

an embodiment of a vertical arm rotatably connected at one end to a base, which is rotatably connected to a horizontal arm at another end, and at the rotatable connections can also be rotated about at least one horizontal axis,

FIG. 7

an embodiment of a horizontally connected to a base horizontal arm, wherein the horizontal arm has two horizontal arm sections,

FIG. 8

a detailed section of an embodiment of a rotatably connected to a base vertical arm,

FIG. 9

an offshore crane arranged on a ship at calm sea, and

FIG. 10

an offshore crane arranged on a ship in a stormy sea.

FIG. 1 shows an embodiment of a rotatably connected to a base 1 vertical arm 2. Preferably, such a crane is on a ship, especially on an offshore service ship, which creates the necessary conditions for the establishment and maintenance of an offshore wind farm. Advantageously, the base is connected to the ship. The base can hereby be firmly anchored to the ship or, for example, hold a contact with the ship by means of a hydraulic device. A base vertical arm connection 3 allows a rotational movement 4 of the vertical arm 2 relative to the base 1 about a vertical axis of rotation 101. According to the invention, at least one segment motor without a transmission drives the vertical arm 2.

FIG. 2 shows a configuration of a horizontally connected to a base 1 horizontal arm 6. A base horizontal arm connection 8 allows a rotational movement 4 of the horizontal arm 6 relative to the base 1 about a vertical axis of rotation 101. According drives at least one segment motor without gear the horizontal arm 6 at. The described horizontal arm 6 can be designed as a gangway.

FIG. 3 shows an embodiment of a rotatably connected at one end to a base 1 vertical arm 2, which is also rotatably connected at one end to a horizontal arm 7. A base vertical arm connection 3 allows a rotational movement 4 of the vertical arm 2 relative to the base 1 by one vertical axis of rotation 101. In addition, a base horizontal arm connection 9 allows a rotational movement 4 about a vertical axis of rotation 101st

FIG. 4 shows an embodiment of a rotatably connected to a base 1 vertical arm 2, which is also rotatable about a horizontal axis 102. A base vertical arm connection 31 permits a rotational movement 4 about a vertical axis of rotation 101. According to the invention, the rotary movement 4 carries out at least one segment motor. At least one further segment motor also performs a movement 5 about a horizontal axis of rotation 102. For this movement, for example, a ball screw can be used, which transforms a rotational movement of the segment motor in a translational movement.

FIG. 5 shows an embodiment of a horizontally connected to a base 1 horizontal arm 6. A base horizontal arm connection 81 allows a rotational movement 4 about a vertical axis of rotation 101. The rotational movement 4 according to the invention at least one segment motor. At least one further segment motor also performs a movement 5 about a horizontal axis of rotation 102. A further realized rotation axis 104 additionally allows a movement 511 by means of at least one segment motor. According to the invention, the movements 4, 5 and 511 can each be carried out individually or jointly.

FIG. 6 shows an embodiment of a rotatably connected at one end to a base 1 vertical arm 2, which is also rotatably connected at one end to a horizontal arm 7. A base vertical arm linkage 31 allows rotational movement 4 about a vertical axis of rotation 101. In addition, a base horizontal arm linkage 91 allows rotational movement 4 about the vertical axis of rotation 101. The base vertical link 31 also permits movement 5 about the horizontal axis Rotation axis 102. The base horizontal arm connection 91 allows a movement 51 about a horizontal axis of rotation 103. The exemplary embodiment according to FIG. 6 shows an embodiment of both axes of rotation 102 and 103. However be executed only one of the two axes of rotation. A further realized rotation axis 105 additionally allows a movement 513, which according to the invention is accomplished by at least one segment motor. According to the invention, the movements 4, 51, 513 and 5 can each be carried out individually or jointly. Also a following in FIG. 7 shown movement 13, which is accomplished by a horizontal arm horizontal arm connection 14 is also in FIG. 6 possible. Segment motors are particularly well suited for an offshore crane with optional gangway described in the figure, since they have a high machine availability. In addition, they can be performed redundantly in a simple manner. If one motor segment fails, the segment motor can still continue. For example, if a segment motor includes eight motor segments, two of which are affected by a fault, the segment motor continues to drive at approximately 75% of its actual power. To ensure that the segment motor always has its full potential, the segment motor must be redundant. If the segment motor already described is executed with ten instead of the required eight motor segments, two motor segments can fail without a performance reduction. Such a redundant design also has a positive effect on the efficiency and the efficiency of the segment motor, since more motor segments are installed.

FIG. 7 shows an embodiment of a horizontal arm rotatably connected to a base 1, wherein the horizontal arm has two horizontal arm sections. A first horizontal arm section 11 and a second horizontal arm section 12 are connected to each other in the example shown with a horizontal arm horizontal arm connection 14 and can be retracted and extended. Possible directions are indicated by the arrow 13. Thus, the horizontal arm is variable in its length. The extension and retraction according to the invention allows a drive having at least one segment motor. The horizontal arm is rotatably connected via a base horizontal arm connection 8 to the base 1 and may preferably be rotated about the vertical axis of rotation 101 by means of a segment motor. The rotational movement is indicated by the arrow 4. The variable in length horizontal arm can also in the examples in FIG. 3 . FIG. 5 and FIG. 6 be used.

FIG. 8 shows a detailed section of an embodiment of a rotatably connected to a base 1 vertical arm 2 of a crane, in particular an offshore crane. The figure shows that the vertical arm can also be designed with a slope. In the FIG. 8 illustrated basic vertical arm connection 31 differs in their execution of the base-vertical arm connection 31 in FIG. 4 and FIG. 6 in that different rotational movements are executable. The illustrations of the base-vertical arm connection 31 described in the various figures show exemplary embodiments of such a connection. The base-vertical arm connection 31 allows a rotational movement 4 about the vertical axis 101. In addition, the base-vertical arm connection 31 allows a rotational movement 5 about the horizontal axis 102. The rotational movements according to the invention in each case performs a segment motor.

FIG. 9 shows an arranged on a ship 20 offshore crane with calm sea 23. The base 1 is connected at one end to the ship 20, at another end to the vertical arm 2. The vertical arm 2 is connected to a horizontal arm 7, which comprises a first horizontal arm section 11 and a second horizontal arm section 12. The arms are arranged and rotated so that the sea state is compensated and, for example, a person can reach the platform 22 of a wind turbine 21 via the horizontal arm 7. This also contributes to the extension and retraction of the horizontal arm section 12.

FIG. 10 shows an arranged on a ship 20 offshore crane in stormy sea 24. Due to a caused by a strong swell inclination of the ship 20 are according to the invention the base 1, the vertical arm 2 and the two horizontal arm sections 11 and 12 comprehensive horizontal arm 7 rotated by segment motors in a manner about vertical and horizontal axes as described above or the two horizontal arm sections 11 and 12 are moved into each other, so that a person can get over the horizontal arm to a platform 22 of a wind turbine 21.

Claims (14)

Crane with at least one first crane part and at least one second crane part (1, 2, 6, 7) connected to the first crane part (1, 2, 6, 7), the second crane part (1, 2, 6, 7) being opposite to the first crane part first crane part (1, 2, 6, 7) by means of a drive with respect to a rotational axis (101, 102, 103, 104, 105) is adjustable,
characterized in that the drive comprises at least one segment motor. Crane according to claim 1, wherein the drive is designed as a gearless drive. Crane according to one of claims 1 or 2, wherein the crane as first crane part at least one base (1) and as a second crane part at least one arm (2, 6), wherein a first end of the arm with (2, 6) of the base over a base-arm connection (3, 8) is rotatably connected and the base-arm connection (3, 8) a rotational movement (4, 5, 51) of the arm substantially about an axis of rotation (101, 102, 103, 104 , 105). Crane according to claim 3, wherein the arm is designed as a vertical arm (2) and the base-arm connection is designed as a base-vertical arm connection (3) and the base-vertical arm connection (3) is rotated (4). of the vertical arm about a substantially vertical axis (101) of the base. Crane according to claim 3, wherein the arm is designed as a horizontal arm (6) and the base-arm connection is designed as a base horizontal arm connection (8) and the base horizontal arm connection (8) is rotated (4). of the horizontal arm (6) about a substantially vertical axis of rotation (101) of the base allows. Crane according to one of claims 3 to 5, wherein a second end of the arm designed as a vertical arm (2) is rotatably connected to a first end of at least one horizontal arm (7) via a vertical arm horizontal arm connection (9) and the vertical arm horizontal arm Connection (9) allows a rotational movement (4) of the horizontal arm about a substantially vertical axis of rotation (101) of the vertical arm. Crane according to one of claims 3 to 6, wherein the base-vertical arm connection (31) allows a movement (5) of the vertical arm (2) about a substantially horizontal axis of rotation (102). Crane according to one of claims 3 to 7, wherein the base horizontal arm connection (81) allows a movement (5, 511) of the horizontal alarm (6) about at least one substantially horizontal axis of rotation (102, 104). Crane according to one of claims 3 to 8, wherein the vertical arm horizontal arm connection (91) allows a movement (51, 513) of the horizontal arm (7) about at least one substantially horizontal axis of rotation (103, 105). Crane according to one of the preceding claims, wherein the horizontal arm (6, 7) comprises at least a first horizontal arm portion (11) and at least a second horizontal arm portion (12) which are interconnected via a horizontal arm horizontal arm connection (14) , Crane according to one of the preceding claims, wherein the horizontal arm (6, 7) is made variable in its length and the horizontal arm horizontal arm connection (14) is designed as a device which allows extension and retraction of at least one horizontal arm by means of a drive, wherein the drive comprises at least one segment motor. Crane according to one of the preceding claims, wherein on, under and / or next to the horizontal arm (6, 7) or instead of the horizontal arm (6, 7), a web is executed. Crane according to one of the preceding claims, wherein the crane is designed as an offshore crane and adapted for mounting on a ship (20). Use of a crane according to one of the preceding claims for sea state compensation, in particular for active sea state compensation.

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