EP4584199A1 - Crane system for installation of a wind turbine rotor blade - Google Patents

Crane system for installation of a wind turbine rotor blade

Info

Publication number
EP4584199A1
EP4584199A1 EP23761833.5A EP23761833A EP4584199A1 EP 4584199 A1 EP4584199 A1 EP 4584199A1 EP 23761833 A EP23761833 A EP 23761833A EP 4584199 A1 EP4584199 A1 EP 4584199A1
Authority
EP
European Patent Office
Prior art keywords
yoke
tool
hoist block
hoist
tagline
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23761833.5A
Other languages
German (de)
French (fr)
Inventor
David ROODENBURG
Terence Willem August Vehmeijer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huisman Equipment BV
Original Assignee
Itrec BV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from NL2032968A external-priority patent/NL2032968B1/en
Application filed by Itrec BV filed Critical Itrec BV
Publication of EP4584199A1 publication Critical patent/EP4584199A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/108—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for lifting parts of wind turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • B66C23/185—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 for use erecting wind turbines
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • F03D13/104—Rotor installation, e.g. installation of blades
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • F03D13/126—Offshore
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • F03D13/139—Assembling or erecting wind motors by using lifting means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/60—Assembly methods
    • F05B2230/61—Assembly methods using auxiliary equipment for lifting or holding
    • F05B2230/6102—Assembly methods using auxiliary equipment for lifting or holding carried on a floating platform

Definitions

  • the invention relates to the field of cranes.
  • a vessel is provided with a crane, wherein the crane comprises a revolving structure, a boom that is pivotally mounted to the revolving structure, and a luffing assembly configured for luffing of the boom.
  • the crane further comprises a hoist assembly with one or more hoist winches, one or more hoist cables driven by the one or more hoist winches, and a hoist block suspended from the one or more winch driven hoist cables of the hoist assembly.
  • a crane hook is permanently fitted on the hoist block, at least in a manner that is not attractive in view of exchanging the crane hook for another crane hook. If the crane is to be used for hoisting different loads, commonly use is made of wire slings between the crane hook and the object, e.g. with an intermediate spreader or the like.
  • W02020/055249 disclose a crane with arrangements that allow for easy coupling and decoupling of exchangeable tools to and from the hoist block of the crane. Examples mentioned in this document are a crane hook, a foundation pile top end lifting device, a lifting device for a transition piece of an offshore wind turbine, a foundation pile upending device, a monopile upending and lifting tool, a pile driver lifting tool, etc.
  • a first aspect of the invention relates to a system according to the preamble of claim 1 , which is based on W02020/055249, which system is characterized in that at least one of the exchangeable tools is embodied as a yoke for supporting a wind turbine blade, and in that
  • the hoist block (70) is provided with one or more actuators, e.g. cylinders (51 a-d), which are configured to press a tool engaging surface (53a, b) against the yoke (100) so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis (A), or
  • the yoke is provided with one or more actuators, e.g. cylinders, which are configured to press a hoist block engaging surface against the hoist block so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis.
  • actuators e.g. cylinders
  • version denoted with A) above appears more attractive as version B), as the latter adds complexity to the yoke.
  • version B the version of the version denoted with A) above appears more attractive as version B), as the latter adds complexity to the yoke.
  • the version A) may well be more attractive as the yoke itself is less complex.
  • a yoke is employed having a C-shaped frame.
  • wind turbines having a capacity over 10 MW, e.g. 14 MW or recently 15 MW are now commercially available. These wind turbines have very large rotor blades, e.g. over 75m, or even over 100m in length. For example, each blade of the newly proposed Vestas 15 V236 turbine measures 115.5 meters in length.
  • the Siemens Gamesa’s SG 14-222 DD direct drive turbine has a blade of 108 meters in length. This market development further increases demands on the installation of a rotor blade to an offshore wind turbine. The mass of a single blade may be well in excess of 50 tons.
  • the inventive provision of one or more actuators and an associated tool engaging surface configured to be pressed against the yoke or the hoist block contributes to an improved hoisting operation of a wind turbine blade.
  • the one or more actuators are embodied as hydraulic cylinders. Due to the enormous dimensions and weight of the rotor blade held by the yoke, hydraulic cylinders are preferred in order to exert the forces needed to dampen and/or control pivot motion of the yoke about the horizontal pivot axis.
  • the yoke is pivotal relative to the hoist block about a horizontal pivot axis.
  • This pivot movement is, for example, present in embodiments wherein the fixed support elements are configured to pivotally support the upper tool connector about the horizontal roll pivot support axis.
  • the horizontal pivot axis is a horizontal roll pivot support axis which is defined by the fixed support elements so that said horizontal roll pivot support axis extends at a fixed orientation perpendicular to the hoist block.
  • This arrangement is known from W02020/055249.
  • the system comprises control means configured to actively control the one or more actuators so as to position the yoke, e.g. so as to accurately position the yoke.
  • control means are linked to one or more sensors that measure the distance and/or position and/or angular orientation of the blade root relative to the mounting structure of the hub of the wind turbine.
  • the yoke may in this manner be effectively stabilized and/or positioned, e.g. in view of alignment of the root of the rotor blade with the mounting structure for the blade on the hub of the horizontal axis wind turbine.
  • the blade can now be held stable in horizontal or oblique orientation when installing the root end of the rotor blade to the blade mounting structure of the hub of a horizontal axis wind turbine.
  • the invention may also be of benefit when the blade is not horizontal during installation, yet at a predetermined inclination, e.g. of 15 or 30 degrees relative to a horizontal plane.
  • one or more sensors are provided on the hoist block and/or on the yoke and configured to sense one or more of the orientation and/or motion of the hoist block and/or of the yoke.
  • the one or more sensors are linked to the control means configured to actively control the one or more actuators so as to accurately position the yoke.
  • the one or more sensors are configured to sense orientation and/or motion in at least one direction, e.g. at least pivoting motion of the yoke about the horizontal pivot axis, e.g. in three orthogonal directions, e.g. the yoke being provided with one or more inertial motion sensors, e.g. an inertial measurement unit.
  • the blade lifting yoke is pivotable relative to the hoist block so as to allow for a pivot angle or inclination of the yoke relative to a horizontal plane of at least 10 degrees to either side, e.g. of 15 degrees or of 30 degrees.
  • a pivot angle or inclination of the yoke relative to a horizontal plane of at least 10 degrees to either side, e.g. of 15 degrees or of 30 degrees.
  • the pivotally mounting of the tool relative to the hoist block may serve to enhance alignment of the blade with the blade mounting structure of the hub.
  • the pivotal connection of the yoke relative to the hoist block in conjunction with the inventive structure between the blade lifting yoke and the hoisting block allows to enhance the installation of the blade.
  • the elongated hoist block acts as a spreader. Because of the elongated construction of which the ends are suspended from the hoist cables, the hoist block itself cannot pivot about the horizontal pivot axis, in particular not because of its weight, and the weight of the connected yoke, e.g. with a blade being suspended therefrom.
  • the actuators may serve as dampers between the hoist block and the yoke. Because the hoist block cannot pivot about the horizontal roll pivot axis, the damper is able to dissipate pivot energy from the yoke/ load.
  • the hoist block is provided with two sets of one or more actuators, e.g. cylinders, e.g. hydraulic cylinders, at opposite sides of the horizontal pivot axis.
  • the actuators are provided at opposite ends of the hoist block.
  • placing the actuator(s) further away from the horizontal pivot axis increase the effectiveness of the actuator(s) as the moment arm about the pivot axis increases. Therefore, placing the sets at the ends of the hoist block is preferred.
  • each set of one or more actuators e.g. cylinders, is associated with a corresponding tool engaging surface.
  • one end of the actuator is mounted to the hoist block, while the other end engages the yoke directly or indirectly.
  • the actuators are, preferably, actively controlled by control means.
  • the damping effect if present, is adjustable.
  • a spring stiffness of the actuators can be adjusted.
  • the upper tool connector is configured to allow for swivelling of the tool/yoke about a vertical axis.
  • the upper tool connector comprises a rotational drive configured to selectively drive said swivelling of the tool/yoke.
  • the actuators slidably engage the yoke directly or indirectly to allow rotation of the yoke.
  • each tool engaging surface or hoist block engaging surface is configured to slidably engage the yoke or the hoist block to allow swivelling of the yoke, e.g. each tool engaging surface being semi-circular, e.g. wherein the tool engaging surface comprises sliding pads.
  • each actuator comprises a hydraulic or pneumatic cylinder, an upper end of which is fixed to the hoist block and a lower end engaging the yoke directly or indirectly.
  • the one or more actuators are retractable so that the tool engaging surface or hoist block engaging surface is spaced from the yoke or from the hoist block allowing for freely pivoting of the yoke about the horizontal pivot axis.
  • the one or more actuators are extensible so that the tool engaging surface or hoist block engaging surface is pressed against the yoke or hoist block so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis.
  • the actuators are retracted in a phase whether the yoke is being connected to the hoist block via the tool connectors. Once the connection is made, the actuators are extended.
  • the hoist block is provided with at least one auxiliary arm hinged to the hoist block and comprising a horizontally extending tool engaging surface configured to be pressed against the yoke.
  • One or more, e.g. two, actuators is/are mounted between the hoist block and the auxiliary arm and configured to press the tool engaging surface against the yoke.
  • the tool engaging surface presses against the yoke, optionally via sliding pads or the like on the auxiliary arm, to allow for swivelling of the yoke - and the blade supported by the yoke - about the vertical axis.
  • the hoist block is provided with two auxiliary arms each having an inner end hinged to the hoist block and an outer end provided with a respective tool engaging surface, the auxiliary arms extending in opposite directions, each auxiliary arm towards a respective end of the hoist block, wherein each arm is coupled to one or more of the actuators, e.g. to a set of cylinders, e.g. a set of cylinders mounted at a respective end of the hoist block.
  • the auxiliary arm(s) is/are controlled. This makes it possible to switch from a yoke that is freely pivotable about the horizontal axis with respect to the hoist block to a yoke of which the position is controlled relative to the hoist block. A controlled rotation or swivelling of the yoke is still possible due to the tool engaging surface of the auxiliary arm slidingly engaging the yoke.
  • the yoke would be pivotable relative to the hoist block about a horizontal pitch pivot axis which extends parallel to the length of the hoist block. This pitch movement is, preferably, blocked by the tool engaging surface of the auxiliary arm.
  • the lower tool connector of each of the exchangeable tools include the yoke is embodied as a shank having a shoulder, wherein the upper tool connector comprises one or more mobile tool retainers adapted to releasably engage the shoulder of the shank so as to suspend the tool/yoke underneath the tool suspension device.
  • the tool suspension device further comprises:
  • each mobile tool retainer being mounted on the female, open-centered body, and the mobile tool retainers being distributed around the shank receiving passage, so as to each provide an operative and a non-operative position of the mobile tool retainer, the mobile tool retainers being adapted to - in a non-operative position - allow introduction of the shank of the exchangeable tool from below into the receiving passage and - in an operative position - engage below the shoulder of the shank that has been introduced into the passage so as to suspend the yoke from the tool suspension device.
  • the tool suspension device further comprises:
  • a rotational drive operative between the housing and the female, open-centered body and configured to selectively drive said swivelling of the female, open-centered body and of the mobile tool retainers mounted thereon, and thereby of the yoke or other tool, about the central vertical axis.
  • the upper tool connector and the lower tool connector are configured as described in WO2018/139931.
  • the upper tool connector is embodied as a male part having mobile tool retainers thereon that are movable radially between an inward retracted position and an outward operative position.
  • the lower tool connector is embodied as a female part into which the male part can be inserted, the female part having an inward shoulder so that the tool retainers in their operative position engage under the shoulder.
  • the male upper tool connector is pivotally supported by the hoist block about the horizontal pivot axis.
  • yoke is connected pivotally to the female lower tool connector so as to pivot about the horizontal pivot axis.
  • a tagline system for enhancing control of the yoke holding the wind turbine rotor blade.
  • the tagline system comprises:
  • a tagline assembly comprising: o a tagline, e.g. two taglines, o a tagline winch for each tagline, o a tagline trolley, e.g. one for each tagline, that is mounted on the guide for travel along the guide.
  • the tagline(s) is/are connected to the hoist block. This is possible because due to the controlled movement of the yoke, the yoke and the hoist block mechanically act as a unit. This arrangement also enables the exchange of the yoke for another exchangeable tool that is connected to the hoist block without having to disconnect and reconnect the tagline.
  • At least two taglines are connected to the hoisting block, e.g. allowing to control orientation of the suspended hoist block in a horizontal plane and control of motion of the hoist block about a vertical axis. It is noted that the fact that the hoist block is suspended at both ends thereof from one or more cables, already contributes to a stabilization of the hoist block.
  • the tagline system may operate in a horizontal plane to position the hoist block, and e.g. prevent rotation.
  • Taglines extend, in embodiments, essentially horizontally. In addition or instead thereof, taglines can extend at an incline or even mainly vertically.
  • the crane further comprises a revolving structure, a boom, pivotally mounted to the revolving structure and a luffing assembly configured for luffing of the boom. This is common configuration of a crane.
  • the boom of the crane is provided with two spaced apart guides extending along the boom, two tagline trolleys each travelling along the respective guide, and two taglines and associated winches, wherein the two taglines are connected to the hoist block at horizontally spaced apart locations, e.g. wherein the taglines extend crossed.
  • At least one exchangeable tool of the system is embodied as a crane hook.
  • the hook being used in other operations concerning a wind turbine, e.g. the crane and crane hook being configured to hoist a nacelle onto the tower of the wind turbine.
  • the first aspect of the present invention also relates to a vessel provided with a system according to the first aspect of the invention.
  • the first aspect of the present invention also relates to a method of hoisting of a wind turbine blade, wherein use is made of the according to the first aspect of the invention.
  • the first aspect of the present invention also relates to a method for installation of a wind turbine rotor blade, e.g. in horizontal or oblique orientation thereof, to the hub of a horizontal axis wind turbine, e.g. an offshore wind turbine that is located offshore, wherein use is made of a system or a vessel according to the first aspect of the invention.
  • multiple yokes each supporting a wind turbine blade are provided, e.g. on deck of a vessel, which are then hoisted one after using the system, each time a yoke with blade being connected to the hoist block and then lifted, the blade being installed, the hoist block and empty yoke being lowered and then disconnected, and then the next yoke with blade being connected to the hoist block.
  • this can be done without disconnecting the one or more taglines from the hoist block.
  • a second aspect of the invention aims to provide improvements of a known crane system, e.g. as in W02020/055249, and operation thereof, in particular in view of behaviour of the system when hoisting a tool with a significant load, e.g. to a significant height, e.g. when lifting a wind turbine rotor blade for fastening thereof to the hub of a wind turbine, e.g. an offshore wind turbine.
  • a tagline system of the crane engages on the tool or on the load supported by the tool.
  • the second aspect of the invention provides for a system comprising a crane and at least one exchangeable tool, e.g. for supporting a load, e.g. for use on a vessel, said exchangeable tool comprising, at an upper side thereof, a lower tool connector
  • the crane comprises: a revolving structure, a boom, pivotally mounted to the revolving structure, a luffing assembly configured for luffing of the boom, a hoist assembly, comprising: o one or more hoist winches, o one or more hoist cables, driven by the one or more hoist winches, a tool suspension device, comprising: o an elongated hoist block, both ends thereof being suspended from the one or more hoist cables of the hoist assembly, the hoist block comprising one or more fixed support elements, e.g.
  • a tagline system for controlling the tool, and optionally the load supported by the tool, that is lifted by the crane, e.g. a wind turbine component, e.g. a wind turbine rotor blade in horizontal orientation, wherein the tagline system comprises: o a guide assembly with a guide extending along the boom, o a tagline assembly, comprising:
  • one or more of the following movements are possible, after engagement of the tool with the tool suspension device:
  • the upper tool connector is configured to allow for such swivelling, if engaged, about a vertical axis .
  • the upper tool connector comprises a rotational drive configured to selectively drive said swivelling of the tool .
  • Such a rotation drive can control or block any swivelling of the tool.
  • the tool is pivotable relative to the hoist block about a horizontal roll pivot axis perpendicular to the hoist block.
  • one or more actuators are provided between the hoist block and the tool to dampen and/ or control pivot movement of the tool relative to the hoist block about the horizontal roll pivot axis.
  • the tool is pivotable relative to the hoist block about a horizontal pitch pivot axis parallel to the hoist block. In embodiments, this movement is blocked by an auxiliary arm as discussed for the first aspect of the invention.
  • controlling movement of the tool includes blocking of the movement, restricting movement and/ or being able to actively control the movement.
  • the tagline engages the hoist block. This is possible because due to the controlled movement of the tool, the tool and the hoist block mechanically act as a unit. This enables the exchange of tools without having to disconnect and reconnect the tagline.
  • the tagline assembly comprising two tagline trolleys, each guiding a tagline from a tagline winch to an end of the hoist block.
  • the guide assembly is a guide wire assembly and the guide is a guide wire, the guide wire having a lower end and an upper end, wherein a tensioning device, e.g. a tensioning winch, is connected to one of said lower end and upper end, and wherein the other of said lower and upper end is secured relative to the crane boom,
  • a tensioning device e.g. a tensioning winch
  • the guide is a rail, e.g. connected to or formed integral with the boom.
  • the second aspect of the invention also relates to a method of hoisting wherein use is made of the above described system, comprising the steps of: positioning the hoist block at a tool receiving position, e.g. at deck level, connecting the tagline(s) to the hoist block,
  • the upper tool connector engaging the lower tool connector; optionally controlling the movement of the tool relative to the hoist block as discussed with reference to the first aspect of the invention; hoisting the tool, optionally with a load; using the tagline system to position the hoist block and the connected tool and optionally the supported load in a horizontal plane at an elevated position of the tool suspension device.
  • the second aspect of the invention advantageously allows an operation wherein multiple exchangeable tools, e.g. yokes with wind turbine blades are provided, e.g. on deck of a vessel, which can be hoisted one after each other by connecting and disconnecting the tool connectors without disconnecting the one or more taglines from the hoist block.
  • multiple exchangeable tools e.g. yokes with wind turbine blades are provided, e.g. on deck of a vessel, which can be hoisted one after each other by connecting and disconnecting the tool connectors without disconnecting the one or more taglines from the hoist block.
  • a third aspect of the invention aims to provide improvements in the operation of known crane systems, in particular in view of behaviour of the tagline system when hoisting a tool with a significant load, e.g. to a significant height, e.g. when lifting a wind turbine rotor blade in horizontal orientation for fastening thereof to the hub of a (offshore) wind turbine.
  • the third aspect of the invention provides for a method of hoisting a load wherein use is made of a system comprising a crane and an exchangeable tool, e.g. for supporting a load, e.g. for use on a vessel, said exchangeable tool comprising, at an upper side thereof, a lower tool connector, wherein the crane comprises: a revolving structure, a boom, pivotally mounted to the revolving structure, a luffing assembly configured for luffing of the boom, a hoist assembly, comprising: o one or more hoist winches, o one or more hoist cables, driven by the one or more hoist winches, a tool suspension device, comprising: o a hoist block, suspended from the one or more hoist cables of the hoist assembly, the hoist block comprising one or more fixed support elements, e.g.
  • a tagline system for controlling the tool, and optionally the load supported by the tool, that is lifted by the crane, e.g. a wind turbine component, e.g. a wind turbine rotor blade in horizontal orientation, wherein the tagline system comprises: o a guide assembly with a guide extending along the boom, o a tagline assembly, comprising:
  • ⁇ a tagline trolley that is mounted on the guide for travel along the guide, the method comprising the steps of: positioning the hoist block at a load receiving position, e.g. at deck level, and positioning the tagline trolleys at an elevated position,
  • the advantage of positioning the tagline trolleys at an elevated position according to the third aspect, e.g. raised all the way to the top, is that the tagline trolleys and taglines interfere less or not at all when a tool, optionally with a load, is picked up, e.g. from deck.
  • the tagline trolleys are lowered to a level where the taglines run at the desired angle to control the tool (and load).
  • the taglines run essentially parallel to the hoisting wires in the elevated position of the tagline trolleys.
  • the aspects of the invention and embodiments thereof can be combined.
  • Fig. 1 is a perspective view of a vessel with a system according to the present invention
  • Fig. 2 is a detailed perspective view on the tool suspension device and yoke of the system of fig. 1 ;
  • Fig. 3 is a side view onto the tool suspension device and yoke of the system of fig. 1 ,
  • Fig. 4 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the cylinders are retracted,
  • Fig. 5 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the yoke has been rotated/swivelled about the vertical axis relative to the hoist block;
  • Fig. 6 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the yoke has been pivoted anti-clockwise about the horizontal axis relative to the hoist block,
  • Fig. 7 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the yoke has been pivoted clockwise about the horizontal axis relative to the hoist block,
  • Fig. 8 is a top view of the hoist block and the yoke, schematically showing the guide rails and taglines of the system of figure 1 ,
  • Fig. 9 is the top view of figure 8, wherein the yoke has been swivelled about the vertical axis relative to the hoist block while the dampers are the second configuration in which the pivot movement of the yoke about the horizontal pivot axis is dampened and/ or controlled;
  • Figs. 11 - 13 are side views of a crane comprising a tagline system according to the third aspect of the invention, wherein distinct positions of the tagline trolleys are shown.
  • the crane 1 is arranged on a vessel 20, here a jack-up vessel.
  • the crane 1 is here embodied as a so-called around-the-leg crane, which provided around a leg 21 of the jack-up vessel 20. It is possible that the tool(s) 100 and loads supported by the tools, such as wind turbine blade 101 , are transported by the jack-up vessel or by a separate transport vessel 180.
  • the crane 1 comprises a revolving structure 2 and a boom 3 that is pivotally mounted to the revolving structure 2 about a horizontal boom pivot axis.
  • the boom 3 as shown comprises two legs, here in a A-frame design. Of course, other boom designs are also contemplated.
  • a luffing assembly 4 is provided for luffing of the boom 3, e.g. including one or more luffing cables 4a and associated luffing winches.
  • the structure 2 includes a gantry on the structure 2 from which the luffing cables 4a extend to the boom tip.
  • the crane 1 further comprises a hoist assembly comprising one or more hoist winches 61 (here on the revolving structure 2) and one or more hoist cables 62, driven by the one or more hoist winches 61 .
  • parallel hoist cables 62 are shown, shown in further detail in fig. 2 and labelled 62’ and 62”. It is conceivable that there is a single hoist cable in a multiple fall configuration. Alternatively, parallel cables 62 are provided which are driven by separate hoist winches.
  • the crane 1 further comprises a tool suspension device 7, shown in detail in fig. 2, comprising an elongated hoist block 70, both ends thereof being suspended from the one or more hoist cables 62’, 62” of the hoist assembly.
  • a tool suspension device 7 shown in detail in fig. 2, comprising an elongated hoist block 70, both ends thereof being suspended from the one or more hoist cables 62’, 62” of the hoist assembly.
  • the hoist block 70 is not provided with a trolley or the like travelling along the boom 3.
  • an optional system of taglines 15 may serve to restrain motion of the hoisting block 70 in the horizontal plane relative to the boom, e.g. also during the installation of a rotor blade of a wind turbine to the blade mounting structure.
  • the hoist block 70 is sometimes referred to as a lower hoist block, as the set of sheaves 64 at the upper end of the boom 3 may be referred to as the upper hoist block.
  • Hoist block 70 supports an upper tool connector 8, not shown in detail, that is configured to releasably engage on the lower tool connector 102 of the exchangeable yoke 100, so as to suspend the yoke 100 from the upper tool connector 8.
  • the load of the wind turbine blade 101 and the yoke 100 is transferred via the interconnection of the upper and lower tool connectors 8, 102 to the hoisting block 70.
  • the tool 100 is pivotal relative to the hoist block 70 about a horizontal pivot axis A which extends perpendicular to the length of the elongated hoist block 70.
  • the upper tool connector 8 is pivotally mounted to the hoist block 70 about the pivot axis A.
  • the hoist block 70 comprises one or more fixed support elements 72, e.g. one or more recesses and/or inward protrusions, that cooperate with mating elements, e.g. trunnions, of the upper tool connector 8 so as to form a pivotal connection for the connector 8 about the axis A.
  • the yoke 100 is, as preferred, provided with a shank 102 so as to suspend the yoke underneath the yoke suspension device 7.
  • the shank 102 has a shoulder, e.g. as shown in W02020/055249 of the same applicant. It is preferred, that the yoke 100 has just one shank 102, the shank being configured to support the combined load of the yoke itself and the heaviest wind turbine rotor blade for which the yoke is designed.
  • the mobile tool retainers are adapted to - in a non-operative position - allow introduction of the shank of the exchangeable tool from below into the receiving passage and - in an operative position - engage below the shoulder of the shank that has been introduced into the passage so as to suspend the yoke 100 from the tool suspension device.
  • the tool suspension device 7 further comprises:
  • a rotational drive operative between the housing and the female, open-centered body and configured to selectively drive said swivelling of the female, open-centered body and of the mobile tool retainers mounted thereon, and thereby of the yoke, about the central vertical axis.
  • actuators 50 are provided between the hoist block 70 and the tool 100 to dampen and/ or control pivot movement of the tool relative to the hoist block about the horizontal roll pivot axis A.
  • actuators 50 are provided at opposite ends of the hoist block 70.
  • the actuators 50 comprise two sets of two, so in total four, hydraulic cylinders 51a-d, mounted to the hoist block 70. Each set is mounted at an axial end of the block 70.
  • Each arm 52a, b has an inner end that is hinged to the hoist block 70 about a horizontal hinge axis, and has an outer end provided with a respective tool engaging surface 53a, b.
  • the two auxiliary arms 52a, b extend in opposite directions, each towards a respective end of the hoist block 70.
  • the lower ends of the hydraulic cylinders 51a-d are hingedly connected to the respective arm.
  • the piston rod ends of the cylinders are connected to the respective arm and the cylinder body to the hoist block 70.
  • the auxiliary arms 52a, b have at their outer end the respective tool engaging surface 53a, b, here a part defining a semi-circular surface. In the situation of figure 1 these surfaces 53a, b extend horizontally to engage the yoke 100. In operation, the tool engaging surfaces 53a, b are pressed against the yoke 100, preferably in a manner that also allows for swivelling of the yoke 100 - and the rotor blade 101 supported by the yoke - about the vertical axis, e.g. as discussed in W02020/055249.
  • the yoke 100 is provided with slide pads 54 on the top thereof, that allow for the surfaces 53a, b to slide over the pads 54 while being pressed there against, e.g. also during the swivelling of the yoke 100 about the vertical axis.
  • the cylinders 51a-d are actively controlled by control means to accurately position the yoke 100 and the rotor blade 101 supported by the yoke about the axis A.
  • the actuators 50 are shown in a first configuration in which the pivot movement about the axis A is not dampened as the surfaces 53a, b have been moved away from/raised above the yoke 100.
  • this first configuration is of use during pick-up of the yoke 100 (possibly pre-loaded with a blade 101) by means of the hoist block 70, e.g. when the shank 102 of the yoke 100 is to be received in the upper tool connector.
  • FIGS 5, 6, and 7 the cylinders 51a-d are shown in a second configuration wherein the cylinders 51a-d are extended and the auxiliary arms engage with their respective surface 53a, b on the yoke 100 to allow the pivot movement of the yoke 100 about axis A to be dampened and/or controlled.
  • FIGS 5 and 9 illustrate that the yoke 100 has been swivelled about the vertical axis, whilst the yoke 100 is still horizontal, so parallel to the main extension of the elongated hoist block 70.
  • This swivel motion may also be of benefit for aligning the blade held by the yoke 100 relative to a blade mounting structure of the hub of a horizontal axis wind turbine.
  • Figure 6 illustrates that the yoke 100 has been pivoted about horizontal pivot axis A, as one set of cylinders 51 a, b has been extended and one set of cylinders 51c,d has been retracted. Both auxiliary arms are pressed with their respective surface 53a, b against the top of the yoke 100, so that the orientation and/or motion thereof is controlled, e.g. dampened.
  • Figure 7 illustrates that the yoke 100 has been pivoted about horizontal pivot axis A in the opposite direction compared to figure 6.
  • the pivoting of the yoke 100 relative to the hoisting block is more than 10 degrees, yet less than 50 degrees, e.g. at most 45 degrees, or at most 30 degrees, e.g. 15 degrees.
  • Figure 8 is a top view of the hoist block 70 and the yoke 100, schematically showing the guide rails with the tagline trolleys 17 and taglines 15 of the system of figure 1. These taglines 15 are shown to be reeved crosswise in top view, which enhances stable positioning of the hoist block 70 in the horizontal plane.
  • Figure 9 is a top view similar to figure 8, wherein the yoke 100 has been swivelled about the vertical axis relative to the hoist block 70 while the cylinders 51a-d are the second configuration in which the pivot movement of the yoke about the horizontal pivot axis is dampened and/ or controlled.
  • Figure 10 shows a side view of the top of the crane 1 with the yoke 100 and the turbine blade 100 held by the yoke.
  • Figure 10 just as figures 11 , 12, and 13, also show a tagline system according to the second and third aspect of the invention.
  • the system is provided with a tagline system that generally serves enhancing control of the tool/yoke 100 and the load supported by the tool, that is lifted by the crane, e.g. a wind turbine component, e.g. a wind turbine rotor blade 101 in horizontal orientation as shown in figure 10.
  • a tagline system that generally serves enhancing control of the tool/yoke 100 and the load supported by the tool, that is lifted by the crane, e.g. a wind turbine component, e.g. a wind turbine rotor blade 101 in horizontal orientation as shown in figure 10.
  • a yoke 100 is employed having a C-shaped frame.
  • the tagline system further comprises a tagline assembly, here with two taglines 15, a tagline winch for each tagline (not shown) and a tagline trolley 17 that is mounted on each of the guide rails 12 to travel along the guide rail 12.
  • a drive arrangement may be present to actively move the trolley 17 up and down along the respective guide rail 12.
  • the tagline system is also visible in other figures, wherein it is visible that there are two tagline trolleys 17. It is illustrated that the taglines 15 do not engage on the tool/yoke 100 itself, but engage on the hoist block 70 at horizontally spaced apart locations. As shown, for example, in figures 8 and 9 this allows to stabilize the hoist block 70 in the horizontal plane.
  • the two taglines 15 connected to the hoist block 70 extend crossed (when seen from above along the boom 3) relative to one another, so the tagline passing over the sheave in the left-hand side trolley 17 extending to the right-hand side of the hoist block 70 and the tagline passing over the sheave in the right-hand side trolley 17 extending to the left-hand side of the hoist block 70.
  • the tagline 15 is connected to the hoist block 70, and not to the tool/yoke 100.
  • the tagline system with taglines 15 is used to position the hoist block 70 mainly in the horizontal plane, so to restrain motion horizontally relative to the boom 3.
  • the blade 100 can still be pivoted and/or swivelled relative to the hoist block 70 as discussed herein, e.g. in view of accurate alignment of the root end of the blade with the mounting structure on the hub of the wind turbine.
  • the taglines 15 may extend horizontally towards the block 90, upwardly, or downwardly inclined as shown in figures 12 and 13.
  • the yoke 100 can be lowered and, if desired, disconnected from the hoist block.

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Abstract

A system (10) comprises a crane (1) and multiple exchangeable tools (100) having at an upper side thereof, a lower tool connector. The crane comprises an elongated hoist block (70), both ends thereof being suspended from hoist cables (62) and an upper tool connector (8) supported by the hoist block and configured to releasably engage on the lower tool connector. At least one of the exchangeable tools is embodied as a yoke for supporting a wind turbine blade (101) and the hoist block or the yoke is provided with one or more actuators (50), which are configured to press a surface against the yoke or the hoist block so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis (A).

Description

CRANE SYSTEM FOR INSTALLATION OF A WIND TURBINE ROTOR BLADE.
The invention relates to the field of cranes.
In the field of offshore lifting it is generally known that a vessel is provided with a crane, wherein the crane comprises a revolving structure, a boom that is pivotally mounted to the revolving structure, and a luffing assembly configured for luffing of the boom. The crane further comprises a hoist assembly with one or more hoist winches, one or more hoist cables driven by the one or more hoist winches, and a hoist block suspended from the one or more winch driven hoist cables of the hoist assembly.
Commonly, for example as disclosed in W02009/099319, a crane hook is permanently fitted on the hoist block, at least in a manner that is not attractive in view of exchanging the crane hook for another crane hook. If the crane is to be used for hoisting different loads, commonly use is made of wire slings between the crane hook and the object, e.g. with an intermediate spreader or the like.
W02020/055249 disclose a crane with arrangements that allow for easy coupling and decoupling of exchangeable tools to and from the hoist block of the crane. Examples mentioned in this document are a crane hook, a foundation pile top end lifting device, a lifting device for a transition piece of an offshore wind turbine, a foundation pile upending device, a monopile upending and lifting tool, a pile driver lifting tool, etc.
It is an object of the first aspect of the invention to provide at least an alternative system, e.g. allowing for installation of a wind turbine rotor blade.
A first aspect of the invention relates to a system according to the preamble of claim 1 , which is based on W02020/055249, which system is characterized in that at least one of the exchangeable tools is embodied as a yoke for supporting a wind turbine blade, and in that
A) the hoist block (70) is provided with one or more actuators, e.g. cylinders (51 a-d), which are configured to press a tool engaging surface (53a, b) against the yoke (100) so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis (A), or
B) the yoke is provided with one or more actuators, e.g. cylinders, which are configured to press a hoist block engaging surface against the hoist block so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis.
It is noted that the version denoted with A) above appears more attractive as version B), as the latter adds complexity to the yoke. For example, if it is envisaged that multiple yokes are employed to install a set of blades on a wind turbine, e.g. three yokes each already holding one of the three blades to be installed on a wind turbine prior to being coupled one by one to the hoisting block, the version A) may well be more attractive as the yoke itself is less complex.
For example, a yoke is employed having a C-shaped frame.
The dimensions of wind turbines have steadily increased over the recent years, mainly in view of economical efficient energy generation. As a result, wind turbines having a capacity over 10 MW, e.g. 14 MW or recently 15 MW are now commercially available. These wind turbines have very large rotor blades, e.g. over 75m, or even over 100m in length. For example, each blade of the newly proposed Vestas 15 V236 turbine measures 115.5 meters in length. The Siemens Gamesa’s SG 14-222 DD direct drive turbine has a blade of 108 meters in length. This market development further increases demands on the installation of a rotor blade to an offshore wind turbine. The mass of a single blade may be well in excess of 50 tons.
The inventive provision of one or more actuators and an associated tool engaging surface configured to be pressed against the yoke or the hoist block contributes to an improved hoisting operation of a wind turbine blade.
In practical embodiments, the one or more actuators are embodied as hydraulic cylinders. Due to the enormous dimensions and weight of the rotor blade held by the yoke, hydraulic cylinders are preferred in order to exert the forces needed to dampen and/or control pivot motion of the yoke about the horizontal pivot axis.
In the inventive system, the yoke is pivotal relative to the hoist block about a horizontal pivot axis. This pivot movement is, for example, present in embodiments wherein the fixed support elements are configured to pivotally support the upper tool connector about the horizontal roll pivot support axis. Alternatively, it is conceivable that there is a pivot connection between the lower tool connector and the exchangeable yoke, or that the lower tool connector is articulated and defines a horizontal pivot axis.
Preferably, the horizontal pivot axis is a horizontal roll pivot support axis which is defined by the fixed support elements so that said horizontal roll pivot support axis extends at a fixed orientation perpendicular to the hoist block. This arrangement is known from W02020/055249.
Preferably, the system comprises control means configured to actively control the one or more actuators so as to position the yoke, e.g. so as to accurately position the yoke. For example, these control means are linked to one or more sensors that measure the distance and/or position and/or angular orientation of the blade root relative to the mounting structure of the hub of the wind turbine.
As discussed herein, the yoke may in this manner be effectively stabilized and/or positioned, e.g. in view of alignment of the root of the rotor blade with the mounting structure for the blade on the hub of the horizontal axis wind turbine. For example, the blade can now be held stable in horizontal or oblique orientation when installing the root end of the rotor blade to the blade mounting structure of the hub of a horizontal axis wind turbine. As discussed, the invention may also be of benefit when the blade is not horizontal during installation, yet at a predetermined inclination, e.g. of 15 or 30 degrees relative to a horizontal plane.
In embodiments, one or more sensors are provided on the hoist block and/or on the yoke and configured to sense one or more of the orientation and/or motion of the hoist block and/or of the yoke. For example, the one or more sensors are linked to the control means configured to actively control the one or more actuators so as to accurately position the yoke. For example, the one or more sensors are configured to sense orientation and/or motion in at least one direction, e.g. at least pivoting motion of the yoke about the horizontal pivot axis, e.g. in three orthogonal directions, e.g. the yoke being provided with one or more inertial motion sensors, e.g. an inertial measurement unit.
Preferably, the blade lifting yoke is pivotable relative to the hoist block so as to allow for a pivot angle or inclination of the yoke relative to a horizontal plane of at least 10 degrees to either side, e.g. of 15 degrees or of 30 degrees. When installing a wind turbine blade to the hub of a nacelle of a horizontal axis wind turbine, it is quite common to install the blade in horizontal orientation. In this situation, the pivotally mounting of the tool relative to the hoist block may serve to enhance alignment of the blade with the blade mounting structure of the hub. Another fairly common approach is that the blade is held by the yoke at an inclination of 15 degrees relative to horizontal or 30 degrees relative to horizontal. In appropriate embodiments, the pivotal connection of the yoke relative to the hoist block in conjunction with the inventive structure between the blade lifting yoke and the hoisting block allows to enhance the installation of the blade.
In the inventive system, the elongated hoist block acts as a spreader. Because of the elongated construction of which the ends are suspended from the hoist cables, the hoist block itself cannot pivot about the horizontal pivot axis, in particular not because of its weight, and the weight of the connected yoke, e.g. with a blade being suspended therefrom.
The actuators may serve as dampers between the hoist block and the yoke. Because the hoist block cannot pivot about the horizontal roll pivot axis, the damper is able to dissipate pivot energy from the yoke/ load.
Preferably, the hoist block is provided with two sets of one or more actuators, e.g. cylinders, e.g. hydraulic cylinders, at opposite sides of the horizontal pivot axis. Advantageously, the actuators are provided at opposite ends of the hoist block. Generally, placing the actuator(s) further away from the horizontal pivot axis increase the effectiveness of the actuator(s) as the moment arm about the pivot axis increases. Therefore, placing the sets at the ends of the hoist block is preferred.
Preferably, each set of one or more actuators, e.g. cylinders, is associated with a corresponding tool engaging surface.
In embodiments, one end of the actuator is mounted to the hoist block, while the other end engages the yoke directly or indirectly.
The actuators are, preferably, actively controlled by control means. Advantageously, the damping effect, if present, is adjustable. In embodiments, a spring stiffness of the actuators can be adjusted.
In embodiments, the upper tool connector is configured to allow for swivelling of the tool/yoke about a vertical axis. Preferably, the upper tool connector comprises a rotational drive configured to selectively drive said swivelling of the tool/yoke. Advantageously, the actuators slidably engage the yoke directly or indirectly to allow rotation of the yoke.
Preferably, each tool engaging surface or hoist block engaging surface is configured to slidably engage the yoke or the hoist block to allow swivelling of the yoke, e.g. each tool engaging surface being semi-circular, e.g. wherein the tool engaging surface comprises sliding pads.
In embodiments, each actuator comprises a hydraulic or pneumatic cylinder, an upper end of which is fixed to the hoist block and a lower end engaging the yoke directly or indirectly.
Preferably, the one or more actuators, e.g. cylinders, are retractable so that the tool engaging surface or hoist block engaging surface is spaced from the yoke or from the hoist block allowing for freely pivoting of the yoke about the horizontal pivot axis. Herein, the one or more actuators, are extensible so that the tool engaging surface or hoist block engaging surface is pressed against the yoke or hoist block so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis. For example, the actuators are retracted in a phase whether the yoke is being connected to the hoist block via the tool connectors. Once the connection is made, the actuators are extended.
In embodiments, the hoist block is provided with at least one auxiliary arm hinged to the hoist block and comprising a horizontally extending tool engaging surface configured to be pressed against the yoke. One or more, e.g. two, actuators is/are mounted between the hoist block and the auxiliary arm and configured to press the tool engaging surface against the yoke. Preferably, the tool engaging surface presses against the yoke, optionally via sliding pads or the like on the auxiliary arm, to allow for swivelling of the yoke - and the blade supported by the yoke - about the vertical axis.
In a preferred embodiment, the hoist block is provided with two auxiliary arms each having an inner end hinged to the hoist block and an outer end provided with a respective tool engaging surface, the auxiliary arms extending in opposite directions, each auxiliary arm towards a respective end of the hoist block, wherein each arm is coupled to one or more of the actuators, e.g. to a set of cylinders, e.g. a set of cylinders mounted at a respective end of the hoist block.
By actively controlling the actuators, also the auxiliary arm(s) is/are controlled. This makes it possible to switch from a yoke that is freely pivotable about the horizontal axis with respect to the hoist block to a yoke of which the position is controlled relative to the hoist block. A controlled rotation or swivelling of the yoke is still possible due to the tool engaging surface of the auxiliary arm slidingly engaging the yoke.
In embodiments, e.g. due to the design of the lower tool connector, e.g. the connection thereof to the yoke, the yoke would be pivotable relative to the hoist block about a horizontal pitch pivot axis which extends parallel to the length of the hoist block. This pitch movement is, preferably, blocked by the tool engaging surface of the auxiliary arm.
In embodiments, e.g. as disclosed in W02020/055249, the lower tool connector of each of the exchangeable tools include the yoke is embodied as a shank having a shoulder, wherein the upper tool connector comprises one or more mobile tool retainers adapted to releasably engage the shoulder of the shank so as to suspend the tool/yoke underneath the tool suspension device.
In embodiments, e.g. as disclosed in W02020/055249, the tool suspension device further comprises:
- a female, open-centered body supported defining a shank receiving passage with a central vertical axis allowing introduction of the shank with the shoulder into the passage from below, each mobile tool retainer being mounted on the female, open-centered body, and the mobile tool retainers being distributed around the shank receiving passage, so as to each provide an operative and a non-operative position of the mobile tool retainer, the mobile tool retainers being adapted to - in a non-operative position - allow introduction of the shank of the exchangeable tool from below into the receiving passage and - in an operative position - engage below the shoulder of the shank that has been introduced into the passage so as to suspend the yoke from the tool suspension device.
In embodiments, e.g. as disclosed in W02020/055249, the tool suspension device further comprises:
- a housing supported by the hoisting block pivotal about the horizontal roll pivot axis, wherein the female, open-centered body is supported by the housing via a bearing, said bearing supporting the female, open-centered body so as to allow for swivelling of the female, open-centered body with the tool retainers, and thereby the yoke if engaged by the tool retainers, about a vertical axis; and
- a rotational drive operative between the housing and the female, open-centered body and configured to selectively drive said swivelling of the female, open-centered body and of the mobile tool retainers mounted thereon, and thereby of the yoke or other tool, about the central vertical axis.
In another embodiment, the upper tool connector and the lower tool connector are configured as described in WO2018/139931. Herein the upper tool connector is embodied as a male part having mobile tool retainers thereon that are movable radially between an inward retracted position and an outward operative position. The lower tool connector is embodied as a female part into which the male part can be inserted, the female part having an inward shoulder so that the tool retainers in their operative position engage under the shoulder. In an embodiment, the male upper tool connector is pivotally supported by the hoist block about the horizontal pivot axis. In another embodiment, yoke is connected pivotally to the female lower tool connector so as to pivot about the horizontal pivot axis.
In embodiments, a tagline system is provided for enhancing control of the yoke holding the wind turbine rotor blade. The tagline system comprises:
• a guide assembly with a guide extending along a boom of the crane,
• a tagline assembly, comprising: o a tagline, e.g. two taglines, o a tagline winch for each tagline, o a tagline trolley, e.g. one for each tagline, that is mounted on the guide for travel along the guide.
Advantageously, the tagline(s) is/are connected to the hoist block. This is possible because due to the controlled movement of the yoke, the yoke and the hoist block mechanically act as a unit. This arrangement also enables the exchange of the yoke for another exchangeable tool that is connected to the hoist block without having to disconnect and reconnect the tagline.
For example, at least two taglines are connected to the hoisting block, e.g. allowing to control orientation of the suspended hoist block in a horizontal plane and control of motion of the hoist block about a vertical axis. It is noted that the fact that the hoist block is suspended at both ends thereof from one or more cables, already contributes to a stabilization of the hoist block.
The tagline system may operate in a horizontal plane to position the hoist block, and e.g. prevent rotation. Taglines extend, in embodiments, essentially horizontally. In addition or instead thereof, taglines can extend at an incline or even mainly vertically. In embodiments, the crane further comprises a revolving structure, a boom, pivotally mounted to the revolving structure and a luffing assembly configured for luffing of the boom. This is common configuration of a crane.
In embodiments, the boom of the crane is provided with two spaced apart guides extending along the boom, two tagline trolleys each travelling along the respective guide, and two taglines and associated winches, wherein the two taglines are connected to the hoist block at horizontally spaced apart locations, e.g. wherein the taglines extend crossed.
In embodiments, at least one exchangeable tool of the system is embodied as a crane hook. This allows for versatile use of the system, e.g. the hook being used in other operations concerning a wind turbine, e.g. the crane and crane hook being configured to hoist a nacelle onto the tower of the wind turbine.
The first aspect of the present invention also relates to a vessel provided with a system according to the first aspect of the invention.
The first aspect of the present invention also relates to a method of hoisting of a wind turbine blade, wherein use is made of the according to the first aspect of the invention.
The first aspect of the present invention also relates to a method for installation of a wind turbine rotor blade, e.g. in horizontal or oblique orientation thereof, to the hub of a horizontal axis wind turbine, e.g. an offshore wind turbine that is located offshore, wherein use is made of a system or a vessel according to the first aspect of the invention.
In an embodiment of the first aspect of the invention multiple yokes each supporting a wind turbine blade are provided, e.g. on deck of a vessel, which are then hoisted one after using the system, each time a yoke with blade being connected to the hoist block and then lifted, the blade being installed, the hoist block and empty yoke being lowered and then disconnected, and then the next yoke with blade being connected to the hoist block. In embodiments, wherein one or more taglines connect to the hoist block, this can be done without disconnecting the one or more taglines from the hoist block.
A second aspect of the invention aims to provide improvements of a known crane system, e.g. as in W02020/055249, and operation thereof, in particular in view of behaviour of the system when hoisting a tool with a significant load, e.g. to a significant height, e.g. when lifting a wind turbine rotor blade for fastening thereof to the hub of a wind turbine, e.g. an offshore wind turbine.
Commonly, a tagline system of the crane engages on the tool or on the load supported by the tool.
The second aspect of the invention provides for a system comprising a crane and at least one exchangeable tool, e.g. for supporting a load, e.g. for use on a vessel, said exchangeable tool comprising, at an upper side thereof, a lower tool connector, wherein the crane comprises: a revolving structure, a boom, pivotally mounted to the revolving structure, a luffing assembly configured for luffing of the boom, a hoist assembly, comprising: o one or more hoist winches, o one or more hoist cables, driven by the one or more hoist winches, a tool suspension device, comprising: o an elongated hoist block, both ends thereof being suspended from the one or more hoist cables of the hoist assembly, the hoist block comprising one or more fixed support elements, e.g. one or more recesses and/or inward protrusions, o an upper tool connector, configured to releasably engage on the lower tool connector of the exchangeable tool, so as to suspend the tool from the upper tool connector, o the fixed support elements supporting the upper tool connector and being configured to absorb the load of the suspended tool and optionally the load supported by the tool, o wherein the tool is movable relative to the hoist block; a tagline system for controlling the tool, and optionally the load supported by the tool, that is lifted by the crane, e.g. a wind turbine component, e.g. a wind turbine rotor blade in horizontal orientation, wherein the tagline system comprises: o a guide assembly with a guide extending along the boom, o a tagline assembly, comprising:
■ a tagline,
■ a tagline winch for the tagline,
■ a tagline trolley that is mounted on the guide for travel along the guide, wherein movement of the tool relative to the hoist block is controlled (e.g. restricted, blocked) and the tagline is connected to the hoist block.
In embodiments of the second aspect, one or more of the following movements are possible, after engagement of the tool with the tool suspension device:
A. Swivelling of the tool about a vertical axis; In embodiments, the upper tool connector is configured to allow for such swivelling, if engaged, about a vertical axis . Advantageously, the upper tool connector comprises a rotational drive configured to selectively drive said swivelling of the tool . Such a rotation drive can control or block any swivelling of the tool.
B. The tool is pivotable relative to the hoist block about a horizontal roll pivot axis perpendicular to the hoist block. In embodiments as discussed for the first aspect of the invention, one or more actuators are provided between the hoist block and the tool to dampen and/ or control pivot movement of the tool relative to the hoist block about the horizontal roll pivot axis.
C. The tool is pivotable relative to the hoist block about a horizontal pitch pivot axis parallel to the hoist block. In embodiments, this movement is blocked by an auxiliary arm as discussed for the first aspect of the invention.
Hence, controlling movement of the tool includes blocking of the movement, restricting movement and/ or being able to actively control the movement.
According to the second aspect of the invention, the tagline engages the hoist block. This is possible because due to the controlled movement of the tool, the tool and the hoist block mechanically act as a unit. This enables the exchange of tools without having to disconnect and reconnect the tagline.
In embodiments, the tagline assembly comprising two tagline trolleys, each guiding a tagline from a tagline winch to an end of the hoist block.
In embodiments, the guide assembly is a guide wire assembly and the guide is a guide wire, the guide wire having a lower end and an upper end, wherein a tensioning device, e.g. a tensioning winch, is connected to one of said lower end and upper end, and wherein the other of said lower and upper end is secured relative to the crane boom, In alternative embodiments, the guide is a rail, e.g. connected to or formed integral with the boom.
The second aspect of the invention also relates to a method of hoisting wherein use is made of the above described system, comprising the steps of: positioning the hoist block at a tool receiving position, e.g. at deck level, connecting the tagline(s) to the hoist block,
- the upper tool connector engaging the lower tool connector; optionally controlling the movement of the tool relative to the hoist block as discussed with reference to the first aspect of the invention; hoisting the tool, optionally with a load; using the tagline system to position the hoist block and the connected tool and optionally the supported load in a horizontal plane at an elevated position of the tool suspension device.
The second aspect of the invention advantageously allows an operation wherein multiple exchangeable tools, e.g. yokes with wind turbine blades are provided, e.g. on deck of a vessel, which can be hoisted one after each other by connecting and disconnecting the tool connectors without disconnecting the one or more taglines from the hoist block.
A third aspect of the invention aims to provide improvements in the operation of known crane systems, in particular in view of behaviour of the tagline system when hoisting a tool with a significant load, e.g. to a significant height, e.g. when lifting a wind turbine rotor blade in horizontal orientation for fastening thereof to the hub of a (offshore) wind turbine.
The third aspect of the invention provides for a method of hoisting a load wherein use is made of a system comprising a crane and an exchangeable tool, e.g. for supporting a load, e.g. for use on a vessel, said exchangeable tool comprising, at an upper side thereof, a lower tool connector, wherein the crane comprises: a revolving structure, a boom, pivotally mounted to the revolving structure, a luffing assembly configured for luffing of the boom, a hoist assembly, comprising: o one or more hoist winches, o one or more hoist cables, driven by the one or more hoist winches, a tool suspension device, comprising: o a hoist block, suspended from the one or more hoist cables of the hoist assembly, the hoist block comprising one or more fixed support elements, e.g. one or more recesses and/or inward protrusions, o an upper tool connector, configured to releasably engage on the lower tool connector of the exchangeable tool, so as to suspend the tool from the upper tool connector, o the fixed support elements supporting the upper tool connector and being configured to absorb the load of the suspended tool and optionally the load supported by the tool, a tagline system for controlling the tool, and optionally the load supported by the tool, that is lifted by the crane, e.g. a wind turbine component, e.g. a wind turbine rotor blade in horizontal orientation, wherein the tagline system comprises: o a guide assembly with a guide extending along the boom, o a tagline assembly, comprising:
■ a tagline,
■ a tagline winch for the tagline,
■ a tagline trolley that is mounted on the guide for travel along the guide, the method comprising the steps of: positioning the hoist block at a load receiving position, e.g. at deck level, and positioning the tagline trolleys at an elevated position,
- the upper tool connector engaging the lower tool connector; hoisting the tool, optionally with a load; using the tagline system to position the hoist block and the connected tool and optionally the supported load in a horizontal plane at an elevated position of the tool suspension device.
The advantage of positioning the tagline trolleys at an elevated position according to the third aspect, e.g. raised all the way to the top, is that the tagline trolleys and taglines interfere less or not at all when a tool, optionally with a load, is picked up, e.g. from deck.
In embodiments, when the tool and optionally the load is at the desired height, the tagline trolleys are lowered to a level where the taglines run at the desired angle to control the tool (and load).
Advantageously the taglines run essentially parallel to the hoisting wires in the elevated position of the tagline trolleys. As will also follow from the drawings it is foreseen that the aspects of the invention and embodiments thereof can be combined.
The invention is elucidated in relation to the drawings, in which:
Fig. 1 is a perspective view of a vessel with a system according to the present invention;
Fig. 2 is a detailed perspective view on the tool suspension device and yoke of the system of fig. 1 ;
Fig. 3 is a side view onto the tool suspension device and yoke of the system of fig. 1 ,
Fig. 4 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the cylinders are retracted,
Fig. 5 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the yoke has been rotated/swivelled about the vertical axis relative to the hoist block;
Fig. 6 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the yoke has been pivoted anti-clockwise about the horizontal axis relative to the hoist block,
Fig. 7 is another detailed perspective view on the tool suspension device and yoke of the system of fig. 1 , wherein the yoke has been pivoted clockwise about the horizontal axis relative to the hoist block,
Fig. 8 is a top view of the hoist block and the yoke, schematically showing the guide rails and taglines of the system of figure 1 ,
Fig. 9 is the top view of figure 8, wherein the yoke has been swivelled about the vertical axis relative to the hoist block while the dampers are the second configuration in which the pivot movement of the yoke about the horizontal pivot axis is dampened and/ or controlled;
Fig. 10 is a side view of a top side of a crane of a system according to the first aspect of the invention and a tagline system according to the second aspect of the invention, wherein the tagline is connected to the hoist block;
Figs. 11 - 13 are side views of a crane comprising a tagline system according to the third aspect of the invention, wherein distinct positions of the tagline trolleys are shown.
In figure 1 a system 10 is shown comprising a crane 1 and an exchangeable tool 100, here a yoke which is configured for use in the installation of a wind turbine blade to the hub of a horizontal axis wind turbine.
The crane 1 is arranged on a vessel 20, here a jack-up vessel. The crane 1 is here embodied as a so-called around-the-leg crane, which provided around a leg 21 of the jack-up vessel 20. It is possible that the tool(s) 100 and loads supported by the tools, such as wind turbine blade 101 , are transported by the jack-up vessel or by a separate transport vessel 180.
The crane 1 comprises a revolving structure 2 and a boom 3 that is pivotally mounted to the revolving structure 2 about a horizontal boom pivot axis.
The boom 3 as shown comprises two legs, here in a A-frame design. Of course, other boom designs are also contemplated.
A luffing assembly 4 is provided for luffing of the boom 3, e.g. including one or more luffing cables 4a and associated luffing winches. In this example, the structure 2 includes a gantry on the structure 2 from which the luffing cables 4a extend to the boom tip.
The crane 1 further comprises a hoist assembly comprising one or more hoist winches 61 (here on the revolving structure 2) and one or more hoist cables 62, driven by the one or more hoist winches 61 .
In figure 1 parallel hoist cables 62 are shown, shown in further detail in fig. 2 and labelled 62’ and 62”. It is conceivable that there is a single hoist cable in a multiple fall configuration. Alternatively, parallel cables 62 are provided which are driven by separate hoist winches.
The crane 1 further comprises a tool suspension device 7, shown in detail in fig. 2, comprising an elongated hoist block 70, both ends thereof being suspended from the one or more hoist cables 62’, 62” of the hoist assembly.
The hoist block 70 is not provided with a trolley or the like travelling along the boom 3. As discussed herein an optional system of taglines 15 may serve to restrain motion of the hoisting block 70 in the horizontal plane relative to the boom, e.g. also during the installation of a rotor blade of a wind turbine to the blade mounting structure.
The hoist block 70 is sometimes referred to as a lower hoist block, as the set of sheaves 64 at the upper end of the boom 3 may be referred to as the upper hoist block. Hoist block 70 supports an upper tool connector 8, not shown in detail, that is configured to releasably engage on the lower tool connector 102 of the exchangeable yoke 100, so as to suspend the yoke 100 from the upper tool connector 8.
The load of the wind turbine blade 101 and the yoke 100 is transferred via the interconnection of the upper and lower tool connectors 8, 102 to the hoisting block 70.
The tool 100 is pivotal relative to the hoist block 70 about a horizontal pivot axis A which extends perpendicular to the length of the elongated hoist block 70.
In this example, the upper tool connector 8 is pivotally mounted to the hoist block 70 about the pivot axis A. For example, as shown herein, the hoist block 70 comprises one or more fixed support elements 72, e.g. one or more recesses and/or inward protrusions, that cooperate with mating elements, e.g. trunnions, of the upper tool connector 8 so as to form a pivotal connection for the connector 8 about the axis A.
Further optional details and an embodiment of a tool suspension device are described in W02020/055249 of the same applicant.
The yoke 100 is, as preferred, provided with a shank 102 so as to suspend the yoke underneath the yoke suspension device 7. The shank 102 has a shoulder, e.g. as shown in W02020/055249 of the same applicant. It is preferred, that the yoke 100 has just one shank 102, the shank being configured to support the combined load of the yoke itself and the heaviest wind turbine rotor blade for which the yoke is designed.
As elucidated in W02020/055249 of the same applicant, in embodiments the tool suspension device 7 further comprises a female, open-centered body defining a shank receiving passage with a central vertical axis allowing introduction of the shank 102 with the shoulder into the passage from below. Mobile tool retainers are mounted on the female, open-centered body, and the mobile tool retainers are distributed around the shank receiving passage. The mobile tool retainers each provide an operative and a non-operative position of the mobile tool retainer. The mobile tool retainers are adapted to - in a non-operative position - allow introduction of the shank of the exchangeable tool from below into the receiving passage and - in an operative position - engage below the shoulder of the shank that has been introduced into the passage so as to suspend the yoke 100 from the tool suspension device. As elucidated in W02020/055249 of the same applicant, in embodiments the tool suspension device 7 further comprises:
- a housing supported by the hoisting block, e.g. pivotal about the horizontal pivot axis, wherein the female, open-centered body is supported by the housing via a bearing, said bearing supporting the female, open-centered body so as to allow for swivelling of the female, open-centered body with the tool retainers, and thereby the yoke 100 if engaged by the tool retainers, about a vertical axis; and
- a rotational drive operative between the housing and the female, open-centered body and configured to selectively drive said swivelling of the female, open-centered body and of the mobile tool retainers mounted thereon, and thereby of the yoke, about the central vertical axis.
According to a first aspect of the present invention, actuators 50 are provided between the hoist block 70 and the tool 100 to dampen and/ or control pivot movement of the tool relative to the hoist block about the horizontal roll pivot axis A.
In the shown embodiment, actuators 50 are provided at opposite ends of the hoist block 70. Here the actuators 50 comprise two sets of two, so in total four, hydraulic cylinders 51a-d, mounted to the hoist block 70. Each set is mounted at an axial end of the block 70.
Two auxiliary arms 52a, 52b are provided on the hoist block 70.
Each arm 52a, b has an inner end that is hinged to the hoist block 70 about a horizontal hinge axis, and has an outer end provided with a respective tool engaging surface 53a, b.
The two auxiliary arms 52a, b extend in opposite directions, each towards a respective end of the hoist block 70.
Each arm 52a, b is coupled to one or more of the cylinders 51a-d, here to a pair of cylinders.
In detail, in this example, the lower ends of the hydraulic cylinders 51a-d are hingedly connected to the respective arm. Here the piston rod ends of the cylinders are connected to the respective arm and the cylinder body to the hoist block 70.
The auxiliary arms 52a, b have at their outer end the respective tool engaging surface 53a, b, here a part defining a semi-circular surface. In the situation of figure 1 these surfaces 53a, b extend horizontally to engage the yoke 100. In operation, the tool engaging surfaces 53a, b are pressed against the yoke 100, preferably in a manner that also allows for swivelling of the yoke 100 - and the rotor blade 101 supported by the yoke - about the vertical axis, e.g. as discussed in W02020/055249.
It is shown that the yoke 100 is provided with slide pads 54 on the top thereof, that allow for the surfaces 53a, b to slide over the pads 54 while being pressed there against, e.g. also during the swivelling of the yoke 100 about the vertical axis.
The cylinders 51a-d are actively controlled by control means to accurately position the yoke 100 and the rotor blade 101 supported by the yoke about the axis A.
In figure 4 the actuators 50 are shown in a first configuration in which the pivot movement about the axis A is not dampened as the surfaces 53a, b have been moved away from/raised above the yoke 100. For example, this first configuration is of use during pick-up of the yoke 100 (possibly pre-loaded with a blade 101) by means of the hoist block 70, e.g. when the shank 102 of the yoke 100 is to be received in the upper tool connector.
In figures 5, 6, and 7 the cylinders 51a-d are shown in a second configuration wherein the cylinders 51a-d are extended and the auxiliary arms engage with their respective surface 53a, b on the yoke 100 to allow the pivot movement of the yoke 100 about axis A to be dampened and/or controlled.
Figures 5 and 9 illustrate that the yoke 100 has been swivelled about the vertical axis, whilst the yoke 100 is still horizontal, so parallel to the main extension of the elongated hoist block 70. This swivel motion may also be of benefit for aligning the blade held by the yoke 100 relative to a blade mounting structure of the hub of a horizontal axis wind turbine.
Figure 6 illustrates that the yoke 100 has been pivoted about horizontal pivot axis A, as one set of cylinders 51 a, b has been extended and one set of cylinders 51c,d has been retracted. Both auxiliary arms are pressed with their respective surface 53a, b against the top of the yoke 100, so that the orientation and/or motion thereof is controlled, e.g. dampened.
Figure 7 illustrates that the yoke 100 has been pivoted about horizontal pivot axis A in the opposite direction compared to figure 6. For example, the pivoting of the yoke 100 relative to the hoisting block is more than 10 degrees, yet less than 50 degrees, e.g. at most 45 degrees, or at most 30 degrees, e.g. 15 degrees.
Figure 8 is a top view of the hoist block 70 and the yoke 100, schematically showing the guide rails with the tagline trolleys 17 and taglines 15 of the system of figure 1. These taglines 15 are shown to be reeved crosswise in top view, which enhances stable positioning of the hoist block 70 in the horizontal plane.
Figure 9 is a top view similar to figure 8, wherein the yoke 100 has been swivelled about the vertical axis relative to the hoist block 70 while the cylinders 51a-d are the second configuration in which the pivot movement of the yoke about the horizontal pivot axis is dampened and/ or controlled.
Figure 10 shows a side view of the top of the crane 1 with the yoke 100 and the turbine blade 100 held by the yoke. Figure 10, just as figures 11 , 12, and 13, also show a tagline system according to the second and third aspect of the invention.
The system is provided with a tagline system that generally serves enhancing control of the tool/yoke 100 and the load supported by the tool, that is lifted by the crane, e.g. a wind turbine component, e.g. a wind turbine rotor blade 101 in horizontal orientation as shown in figure 10.
As shown in figure 10 a yoke 100 is employed having a C-shaped frame.
The tagline system comprises a guide assembly with a guide extending along the boom, here two guide rails 12 on the boom 3.
The tagline system further comprises a tagline assembly, here with two taglines 15, a tagline winch for each tagline (not shown) and a tagline trolley 17 that is mounted on each of the guide rails 12 to travel along the guide rail 12. A drive arrangement may be present to actively move the trolley 17 up and down along the respective guide rail 12.
The tagline system is also visible in other figures, wherein it is visible that there are two tagline trolleys 17. It is illustrated that the taglines 15 do not engage on the tool/yoke 100 itself, but engage on the hoist block 70 at horizontally spaced apart locations. As shown, for example, in figures 8 and 9 this allows to stabilize the hoist block 70 in the horizontal plane.
As shown, in an embodiment, the two taglines 15 connected to the hoist block 70 extend crossed (when seen from above along the boom 3) relative to one another, so the tagline passing over the sheave in the left-hand side trolley 17 extending to the right-hand side of the hoist block 70 and the tagline passing over the sheave in the right-hand side trolley 17 extending to the left-hand side of the hoist block 70.
According to a second aspect of the invention, the tagline 15 is connected to the hoist block 70, and not to the tool/yoke 100.
The figures 11 - 13 serve to illustrate the method according to the third aspect of the invention.
In fig. 11 , the hoist block 70 is positioned at a load receiving position, here at deck level of a transport vessel 180 on which a tool/yoke 100 retaining a wind turbine rotor blade 101 is provided. For example, the tool/yoke 100 is provided with a shank 102 as discussed and shown herein.
The tagline trolleys 17 are positioned, e.g. by the corresponding trolley drive, at an elevated position along the boom 3, such that taglines 15 and hoist cables 62 are almost parallel to one another, so generally vertical.
After the upper tool connector has engaged the lower tool connector, e.g. shank 102, the tool 100 with blade 101 is hoisted, here to a position where the blade root is connectable to a hub of a nacelle of a horizontal axis wind turbine 200, here installed at sea, e.g. on a monopile.
At this elevated position of the hoist block 70, the tagline system with taglines 15 is used to position the hoist block 70 mainly in the horizontal plane, so to restrain motion horizontally relative to the boom 3. As discussed, the blade 100 can still be pivoted and/or swivelled relative to the hoist block 70 as discussed herein, e.g. in view of accurate alignment of the root end of the blade with the mounting structure on the hub of the wind turbine. Depending on circumstances the taglines 15 may extend horizontally towards the block 90, upwardly, or downwardly inclined as shown in figures 12 and 13. As the taglines 15 are not connected to the yoke 100, after having installed a blade 101 , the yoke 100 can be lowered and, if desired, disconnected from the hoist block.
Possibly, a further blade 101 has already been retained in another yoke 100, that is then quickly coupled to the hoist block 70. This allows to install the next blade 101 to the hub of the wind turbine 200. This can, of course, be repeated for the third blade 101 of the wind turbine 200.
In embodiments, the inventive system is used to install three blades of a wind turbine 200, wherein each blade 101 is already retained by a respective yoke 100 ahead of being coupled to the hoist block 70. Once the blade 101 is installed, the empty yoke 100 is lowered and disconnected, so that the hoist block can then be coupled to the yoke of the next blade to be installed. This allows for efficient use of the crane. In the meantime, the hub can be rotated in appropriate manner to allow for installation of the next blade.

Claims

C L A I M S
1 . System (10) comprising a crane (1), e.g. a crane of a vessel (20), and multiple exchangeable tools, each of the multiple exchangeable tools (100) comprising, at an upper side thereof, a lower tool connector, wherein the crane (1) comprises:
- a hoist assembly (6), comprising:
- one or more hoist winches (61);
- one or more hoist cables (62) driven by the one or more hoist winches (61);
- a tool suspension device (7) comprising:
- an elongated hoist block (70), both ends thereof being suspended from the one or more hoist cables (62) of the hoist assembly (6),
- an upper tool connector supported by the hoist block and configured to releasably engage on the lower tool connector of a selected one of the exchangeable tools (100) so as to suspend the tool (100) from the upper tool connector (8) under the hoist block, wherein the tool, when suspended from the upper tool connector, is pivotable relative to the hoist block about a horizontal pivot axis (A), characterized in that at least one of the exchangeable tools is embodied as a yoke (100) for supporting a wind turbine blade (101), and in that
A) the hoist block (70) is provided with one or more actuators (50), e.g. cylinders (51a-d), which are configured to press a tool engaging surface (53a, b) against the yoke (100) so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis (A), or
B) the yoke is provided with one or more actuators, e.g. cylinders, which are configured to press a hoist block engaging surface against the hoist block so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis.
2. System according to claim 1 , wherein the horizontal pivot axis (A) is a horizontal roll pivot support axis (A) which is defined by the fixed support elements (72) so that said horizontal roll pivot support axis (A) extends at a fixed orientation perpendicular to the hoist block.
3. System according to claim 1 or 2, wherein the system comprises control means configured to actively control the one or more actuators (50, 51a-d) so as to position the yoke (100).
4. System according to any one or more of claim 1 - 3, wherein one or more sensors are provided on the hoist block and/or on the yoke and configured to sense one or more of the orientation and/or motion of the hoist block and/or of the yoke, e.g. said one or more sensors being linked to control means configured to actively control the one or more actuators so as to accurately position the yoke, e.g. wherein the one or more sensors are configured to sense orientation and/or motion in at least one direction, e.g. at least pivoting motion of the yoke about the horizontal pivot axis (A), e.g. in three orthogonal directions, e.g. the yoke being provided with one or more inertial motion sensors, e.g. inertial measurement unit.
5. System according to any one or more of claims 1 - 4, wherein the hoist block (70) is provided with two sets of one or more actuators (50), e.g. cylinders (51a-d), at opposite sides of the horizontal pivot axis (A), e.g. at both ends of the hoist block, each set of one or more actuators, e.g. cylinders, being associated with a corresponding tool engaging surface (53a, b).
6. System according to any one or more of claims 1 - 5, wherein the upper tool connector is configured to allow for swivelling of the yoke (100) about a vertical axis (8a), and wherein each tool engaging surface or hoist block engaging surface (53a, b) is configured to slidably engage the yoke (100) or the hoist block to allow swivelling of the yoke, e.g. each tool engaging surface (53a, b) being semi-circular, e.g. wherein the tool engaging surface comprises sliding pads.
7. System according to any one or more of claims 1 - 6, wherein the one or more actuators (50), e.g. cylinders (51a-d), are retractable so that the tool engaging surface (53a, b) or hoist block engaging surface is spaced from the yoke (100) or from the hoist block (70) allowing for pivoting of the yoke (100) about the horizontal pivot axis (A), and wherein the one or more actuators, e.g. cylinders (51a-d), are extensible so that the tool engaging surface (53a, b) or hoist block engaging surface is pressed against the yoke or hoist block so as to dampen and/or control pivot motion of the yoke about the horizontal pivot axis (A).
8. System according to any one or more of claims 1 - 7, wherein the hoist block (70) is provided with at least one auxiliary arm (52a, b) hinged to the hoist block (70) and comprising a horizontally extending tool engaging surface (53a, b) configured to be pressed against the yoke (100), wherein the actuator (51a-d) is mounted between the hoist block and the auxiliary arm and is configured to press the tool engaging surface against the yoke (100).
9. System according to claim 8, wherein the hoist block (70) is provided with two auxiliary arms (52a, b) each having an inner end hinged to the hoist block and an outer end provided with a respective tool engaging surface (53a, b), the auxiliary arms extending in opposite directions, each auxiliary arm towards a respective end of the hoist block (70), and wherein each arm is coupled to one or more of the actuators, e.g. to a set of cylinders (51a- d).
10. System according to any one or more of claims 1 - 9, wherein the lower tool connector of the yoke (100) is embodied as a shank (102) having a shoulder, and wherein the upper tool connector comprises one or more mobile tool retainers adapted to releasably engage the shoulder of the shank so as to suspend the yoke (100) underneath the tool suspension device.
11 . System according to claim 10, wherein the tool suspension device further comprises a female, open-centered body defining a shank receiving passage with a central vertical axis allowing introduction of the shank (102) with the shoulder into the passage from below, each mobile tool retainer being mounted on the female, open-centered body, and the mobile tool retainers being distributed around the shank receiving passage, so as to each provide an operative and a non-operative position of the mobile tool retainer, the mobile tool retainers being adapted to - in a non-operative position - allow introduction of the shank of the exchangeable tool from below into the receiving passage and - in an operative position - engage below the shoulder of the shank that has been introduced into the passage so as to suspend the yoke from the tool suspension device.
12. System according to claims 2 and 11 , wherein the tool suspension device further comprises:
- a housing supported by the hoisting block and pivotal about the horizontal roll pivot axis (A), wherein the female, open-centered body is supported by the housing via a bearing, said bearing supporting the female, open-centered body so as to allow for swivelling of the female, open-centered body with the tool retainers, and thereby the yoke or other exchangeable tool if engaged by the tool retainers, about a vertical axis; and
- a rotational drive operative between the housing and the female, open-centered body and configured to selectively drive said swivelling of the female, open-centered body and of the mobile tool retainers mounted thereon, and thereby of the yoke or other exchangeable tool, about the central vertical axis.
13. System according to any one or more of claims 1 - 12, wherein the crane (1) further comprises:
- a revolving structure (2),
- a boom (3), pivotally mounted to the revolving structure (2) about a horizontal pivot axis,
- a luffing assembly (4) configured for luffing of the boom (3), and wherein system further comprises a tagline system which includes:
- a guide assembly with a guide extending along the boom, e.g. the guide being embodied as a rail,
- a tagline assembly, comprising:
- a tagline,
- a tagline winch for the tagline,
- a tagline trolley that is mounted on the guide for travel along the guide, wherein the tagline is, preferably, connected to the hoist block.
14. System according to claim 13, wherein the boom of the crane is provided with two spaced apart guides extending along the boom, two tagline trolleys each travelling along the respective guide, and two taglines and associated winches, wherein the two taglines are connected to the hoist block at horizontally spaced apart locations, e.g. wherein the taglines extend crossed.
15. System according to any one or more of claims 1 - 14, wherein at least one exchangeable tool is embodied as a crane hook.
16. A vessel provided with a system any one or more of claims 1 - 15.
17. Method for installation of a wind turbine rotor blade, e.g. in horizontal or oblique orientation thereof, to the hub of a horizontal axis wind turbine, e.g. an offshore wind turbine that is located offshore, wherein use is made of a system according to any one or more of claims 1 - 15 or a vessel according to claim 16.
EP23761833.5A 2022-09-06 2023-08-24 Crane system for installation of a wind turbine rotor blade Pending EP4584199A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NL2032968A NL2032968B1 (en) 2022-09-06 2022-09-06 System comprising a crane and method of hoisting
NL2033284 2022-10-12
PCT/EP2023/073191 WO2024052129A1 (en) 2022-09-06 2023-08-24 Crane system for installation of a wind turbine rotor blade

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EP4584199A1 true EP4584199A1 (en) 2025-07-16

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DE602008003297D1 (en) 2008-02-07 2010-12-16 Itrec Bv Boom Truck
SG11201506436RA (en) * 2013-02-18 2015-09-29 High Wind N V Device and method for placing a rotor blade of a wind turbine
NL2018257B1 (en) 2017-01-30 2018-08-14 Ihc Holland Ie Bv System for use with a crane on a surface vessel
EP3601793B1 (en) * 2017-06-12 2024-05-29 Siemens Gamesa Renewable Energy A/S Offshore wind turbine installation arrangement
GB2573796A (en) * 2018-05-17 2019-11-20 Vestas Wind Sys As Wind turbine element lifting method and apparatus
WO2020055249A1 (en) 2018-09-12 2020-03-19 Itrec B.V. System of a crane and an exchangeable tool
US11780711B2 (en) * 2018-12-28 2023-10-10 Vestas Wind Systems A/S Automated tagline control system and method of handling a wind turbine component using the automated tagline control system

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