Self-climbing crane for floating type wind power segmental tower drum and tower drum hoisting method

Abstract

According to the self-climbing crane for the floating type wind power section type tower drum and the tower drum hoisting method, a lower clamp set and an upper clamp set are cyclically used as supporting points, a crane assembly can be driven to self-climb on the installed tower drum, and hoisting of a higher tower drum is achieved; a to-be-installed tower drum section can move to the position over an installed tower drum from the position between two inclined arms of a door-shaped hoisting frame of the crane assembly, conditions are provided for sleeving the installed tower drum with the base, and the base, the upper clamp set and the lower clamp set can all be arranged on the outer side of the installed tower drum in a sleeving mode; the gravity center of the self-climbing crane is closer to the center axis of the mounted tower drum, so that the overall gravity center shift of the tower drum and the crane can be reduced, the horizontal force is reduced, and the wind area can be reduced as the self-climbing crane and the mounted tower drum are partially overlapped, so that the wind power generation efficiency is improved. And therefore, the self-climbing process of the self-climbing crane by utilizing the mounted tower drum is safer and more stable, and floating hoisting is easier to control.

Description

Technical Field

[0001] This invention relates to the field of wind turbine tower installation technology, and in particular to a self-climbing crane and tower hoisting method for floating wind turbine segmental towers. Background Technology

[0002] As onshore wind power projects grow larger, the demand for lifting height for wind turbine towers is increasing. Existing cranes are insufficient to install wind turbine towers that exceed their own lifting height. To solve the lifting height problem, self-erecting cranes can be used to install taller towers.

[0003] Currently, foreign land-based self-elevating cranes are mainly designed for land-based wall-mounted self-elevating hoisting. These cranes position the crane body on the side of the installed tower, with two pile-gripping clamps installed above and below the crane body. A turtleback is installed on the side of the crane body closest to the installed tower, and corresponding pile-gripping pin holes for the pile-gripping clamps and turtleback pin holes are provided on the installed tower. Alternating lifting is achieved by using pin-hole pile-gripping positioning and turtleback pin hole positioning. This method has the following disadvantages: (1) Hole positions need to be set on the tower to insert the pin shaft into the hole and insert the turtle-back pin shaft. Since it needs to climb upward continuously, many pin holes need to be set on the tower. The setting of pin holes will weaken the strength of the tower. The higher the tower is, the greater the degree of weakening, and the lower the safety of the wind turbine. (2) The crane system is located on the side of the tower, which will cause the overall center of gravity of the tower and the crane to shift significantly. The crane will generate a large horizontal component force, which is not conducive to the tower bearing the force. It is necessary to increase the horizontal force-bearing structure of the tower and increase the wind-receiving area, thus increasing the impact of wind load. (3) The crane system is located on the side of the tower, and the crane uses a single truss crane boom. When hoisting tower sections, the boom needs to rotate at a large angle, making hoisting difficult. Chinese utility model patent CN206985568U discloses a self-climbing device for wind turbine towers, comprising upper and lower layers of claws connected by a lifting cylinder. The upper claw is rigidly connected to the frame. Electromagnets are installed on the inner sides of both layers of claws, and these electromagnets are connected to an external control device. The climbing device is divided into upper and lower rings connected by a lifting cylinder, with electromagnets installed in both rings. When energized, the electromagnets generate a strong attraction force with the tower, creating friction. This friction between the upper and lower rings and the tower supports the weight of the entire device. The device then climbs step by step by extending and retracting the lifting cylinder.

[0004] Although the device does not require drilling holes in the tower, its crane system is also located on the side of the tower, and it uses a single truss crane boom. It is not used for the hoisting and installation of the tower, but for the hoisting and maintenance of the tower.

[0005] The aforementioned self-elevating cranes are mainly used for onshore wind turbines, while the primary method for installing floating wind turbines is to moor the floating wind turbine foundation at a coastal wharf, where a large crawler crane is deployed to lift the wind turbine tower. However, as floating wind turbines become increasingly larger, the required lifting height and span also increase, making it difficult for even the largest crawler cranes and the largest wind turbine installation vessels in China to meet the height requirements. Furthermore, since the wind turbine foundation floats on the water, the impact of changes in the floating foundation's buoyancy on the lifting process must be considered. The aforementioned self-elevating crane structure is mainly designed for onshore wind turbines or fixed tower hoisting. Self-elevating cranes installed on the side wall of the tower will cause a significant shift in the overall center of gravity of the tower and the crane, resulting in a large change in the floating state of the floating wind turbine foundation. In addition, self-elevating cranes installed on the side wall of the tower will generate a large horizontal component force, requiring the addition of a horizontal load-bearing structure to the tower. Furthermore, the side wall self-elevating structure increases the wind-receiving area, resulting in a significant impact from wind loads. Self-elevating cranes installed on the side wall of the tower require a large rotation angle of the lifting boom during hoisting, and a single lifting boom is less adaptable to floating hoisting.

[0006] In addition to the above-mentioned drawbacks, the Chinese utility model patent with announcement number CN206985568U uses a clamp + magnetic attraction method. The tower contains electrical equipment, and the lifting components are also made of steel, which will affect each other and may affect the tower lifting. Moreover, the magnetic attraction force of the magnetic attraction method may be weakened due to the temporary power supply endpoint and structural wear, which may lead to the danger of use. The hydraulic cylinder used in the boom mainly plays a supporting role and is located at the front and lower part of the boom, which can achieve a relatively small lifting span. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of existing technologies: self-climbing cranes are all installed on the side wall of the tower, the overall center of gravity of the tower and the crane is significantly offset, the horizontal force is increased, the wind-exposed area is large, which increases the risk of stress and makes it difficult to use floating hoisting. In addition, the use of clamps + magnetic attraction means that there are electrical equipment inside the tower and the hoisting parts are also made of steel, which will affect each other and may affect the tower hoisting. Moreover, the magnetic attraction force of the magnetic attraction method may be weakened due to temporary power supply terminals and structural wear, which leads to the lack of safety in use. The invention provides a self-climbing crane and tower hoisting method for floating wind turbine segmental towers.

[0008] In a first aspect, the present invention provides a self-climbing crane for a floating wind turbine segmental tower, comprising a crane assembly and a climbing assembly; The crane assembly includes a base, a gantry crane frame, a lifting hydraulic cylinder, and a lifting device assembly; The base has a through hole in the middle, which can be coaxially arranged with the installed tower, and the diameter of the through hole is larger than that of the installed tower. The gantry crane includes two parallel inclined arms and a crossbeam connected to the ends of the two inclined arms. The first ends of the two inclined arms are respectively hinged to the base through a first hinge shaft, and the first hinge shaft is coaxially arranged. The first hinge shaft is horizontally arranged, and the projections of the two inclined arms on the base are located on opposite sides of the through hole. Each of the inclined arms is provided with a corresponding lifting hydraulic cylinder. The projections of the two lifting hydraulic cylinders on the base are located on opposite sides of the through hole. The lifting hydraulic cylinder is parallel or coincident with the projection of the corresponding inclined arm on the base. One end of the lifting hydraulic cylinder is hinged to the middle of the inclined arm through a second hinge shaft, and the other end is hinged to the base through a third hinge shaft. Both the second and third hinge shafts are parallel to the first hinge shaft. The lifting device assembly is connected to the lower part of the middle of the crossbeam. The lifting device assembly includes a lifting mechanism and several lifting points. The lifting mechanism can vertically change the height of the lifting points. The climbing assembly includes a lower clamp group and an upper clamp group, with the upper clamp group located above the lower clamp group; The upper clamp assembly includes at least two wedge clamps, all of which are arranged in a ring around the installed tower. The inner curvature of each wedge clamp is adapted to the installed tower. The lower end of the through hole is provided with a matching wedge surface on the outer side of the wedge clamp. The wedge surface on the outer side of the wedge clamp is arranged obliquely upward and outward. The wedge clamps are connected to the base via a vertical first locking hydraulic cylinder. The first locking hydraulic cylinder can move radially relative to the wedge clamps and / or the base along the installed tower. An arc-shaped guide bolt is provided between two adjacent wedge clamps in the circumferential direction. The two ends of the guide bolt extend into the two adjacent wedge clamps in the circumferential direction, and the two adjacent wedge clamps in the circumferential direction can slide along the guide bolt between them. The lower clamp assembly includes two opposing arc-shaped clamps, the curvature of which is adapted to the installed tower. The adjacent ends of the two arc-shaped clamps are connected by a horizontally arranged second locking hydraulic cylinder. The two arc-shaped clamps are connected to the base by a vertically arranged lifting hydraulic cylinder, which can move radially relative to the arc-shaped clamps or the base along the installed tower.

[0009] Preferably, the first hinge pin is located on the side of the base that is inclined toward the inclined arm, the third hinge pin is located on the side of the base that is inclined away from the inclined arm, and the second hinge pin is located in the middle of the inclined arm on the side that is inclined away from the inclined arm.

[0010] This allows the gantry crane to be positioned in front of the tower section to be installed, with the lifting hydraulic cylinder located at the rear, thus enabling a larger span for the lifting operation and facilitating the lifting process.

[0011] Preferably, the lifting hydraulic cylinder is a luffing hydraulic cylinder.

[0012] Preferably, the lifting mechanism is a hydraulic lifter, and the lifting device assembly further includes a sling assembly connected below the hydraulic lifter. The hydraulic lifter is fixed to the middle of the crossbeam, and the sling assembly has several lifting points. The lifting points are used to connect the tower section to be installed, and the hydraulic lifter can change the height of the lifting points.

[0013] Preferably, the projections of the two inclined arms on the base are symmetrically arranged about the center of the through hole. The sling assembly includes a main cable and several branch cables. The upper end of the main cable is connected to the hydraulic lifter, which is located at the center of the crossbeam. The upper ends of all the branch cables are connected to the lower end of the main cable. All the branch cables have lifting points at their lower ends. All the lifting points are used to connect different parts of the upper edge of the tower section to be installed.

[0014] Preferably, it also includes a hydraulic station, which is fixedly mounted on the base and provides power to the lifting hydraulic cylinder, the first locking hydraulic cylinder, the second locking hydraulic cylinder and the jacking hydraulic cylinder.

[0015] Preferably, each of the arc-shaped clamps is connected to the base by at least three lifting hydraulic cylinders, and the arc-shaped clamps are provided with at least one lifting hydraulic cylinder at each end and the middle. The adjacent ends of the two arc-shaped clamps are connected by at least two horizontally arranged second locking hydraulic cylinders, which are arranged radially spaced along the arc-shaped clamps. The wedge clamp is connected to the base by at least three first locking hydraulic cylinders, and the wedge clamp is provided with at least one first locking hydraulic cylinder at both ends and the middle. Each of the first locking hydraulic cylinder, the lifting hydraulic cylinder, and the second locking hydraulic cylinder is connected to the hydraulic station via a hydraulic pipe and is equipped with an electric control valve.

[0016] Preferably, the projection outline of the base in the horizontal plane is a square, and the center of the through hole is located at the center of the projection outline of the base in the horizontal plane.

[0017] In a second aspect, the present invention provides a tower hoisting method, comprising the following steps: S1. At least one tower section is hoisted onto a wind power foundation platform floating in the water using lifting equipment to form an installed tower. S2. The self-climbing crane of the floating wind turbine segmental tower is hoisted onto the installed tower and debugged. After debugging, the wedge clamp of the upper clamping group and the arc clamp of the lower clamping group clamp the tower segment, and the first locking hydraulic cylinder, the second locking hydraulic cylinder and the lifting hydraulic cylinder are locked. S3. The next tower segment is hoisted using a self-climbing crane on the floating wind turbine segmental tower to form a taller installed tower. S4. The self-climbing crane for the floating wind turbine segmental tower self-climbs along the installed tower. The self-climbing steps are as follows: S4A. Release the second locking hydraulic cylinder, then control the second locking hydraulic cylinder to extend, so that the two arc-shaped clamps of the lower clamp group move away from and release the installed tower; while keeping the first locking hydraulic cylinder locked, the wedge clamps clamp the installed tower under the gravity of the self-climbing crane of the floating wind turbine segmental tower. Release the locking of the lifting hydraulic cylinder, and then control the lifting hydraulic cylinder to retract, thereby moving the lower clamping assembly upward; After the lower clamping assembly moves to its position, the lifting hydraulic cylinder is locked. Then, the second locking hydraulic cylinder is controlled to retract to the two arc-shaped clamps of the lower clamping assembly to clamp the installed tower. The second locking hydraulic cylinder is then locked again. The first locking hydraulic cylinder and the lifting hydraulic cylinder are released from their locks. All lifting hydraulic cylinders extend synchronously to lift the base upwards while the first locking hydraulic cylinder extends. After the S4C base is lifted into position, lock the lifting hydraulic cylinder and retract the first locking hydraulic cylinder so that the wedge clamp clamps the tower section, and then lock the first locking hydraulic cylinder. S5. Repeat steps S3-S4 until the tower hoisting is completed.

[0018] Preferably, the steps for hoisting the next tower segment using a self-climbing crane on a floating wind turbine segmental tower are as follows: S31. The extension of the lifting hydraulic cylinder drives the gantry crane to rotate until the lifting device assembly is above the tower section to be installed. S32. Change the height of the lifting point of the lifting device assembly until the lifting point can connect to the tower section to be installed, and connect the lifting point to the tower section to be installed. S33. Change the height of the lifting point to raise the tower section to be installed, and then drive the gantry crane to rotate by retracting the lifting hydraulic cylinder until the tower section to be installed is lifted from between the two inclined arms to the top of the installed tower. S34. Change the lifting point height of the lifting equipment assembly, lower the tower section to be installed to the installed tower and connect them to form a taller installed tower.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention provides a self-climbing crane for a floating wind turbine segmental tower. A second locking hydraulic cylinder clamps two opposing arc-shaped clamps of the lower clamping group onto the installed tower, ensuring the self-climbing crane is temporarily fixed to the installed tower. The extension and retraction of the lifting hydraulic cylinder allows the height of the crane assembly's base to be changed using the lower clamping group as a support point. A first locking hydraulic cylinder clamps the wedge-shaped clamps of the upper clamping group onto the installed tower, ensuring the self-climbing crane is temporarily fixed to the tower. The system is already installed on the tower. The height of the lower clamp group can be changed by extending and retracting the upper clamp group, using the upper clamp group as a support point. By cyclically using both the upper and lower clamp groups as support points, the climbing component can self-climb on the installed tower, thereby driving the crane component to self-climb on the installed tower, enabling the hoisting of higher tower sections. Both the upper and lower clamp groups are hydraulically tightened. The lower clamp group is a single, round clamp that always remains fitted onto the installed tower and will not open, resulting in a simpler structure. Moreover, it offers higher stability and has no impact on tower hoisting. Furthermore, the projections of the two inclined arms of the gantry crane assembly onto the base are located on opposite sides of the through-hole, while the lifting assembly is connected to the lower part of the crossbeam between the ends of the two inclined arms. This design allows the tower segment to be moved from between the two inclined arms to directly above the installed tower when hoisting it, providing conditions for the base to be fitted onto the installed tower. This allows the base, upper clamp assembly, and lower clamp assembly to be fitted onto the outside of the installed tower, making the center of gravity of the self-climbing crane closer to the central axis of the installed tower. This reduces the overall center of gravity shift of the tower and crane, lowering the horizontal force. Furthermore, since the self-climbing crane and the installed tower partially overlap, the wind-exposed area is reduced, making the self-climbing crane's self-climbing process using the installed tower safer and more stable. In floating hoisting, the overall center of gravity is closer to the central axis of the installed tower, making floating hoisting easier to control.

[0020] 2. This invention provides a tower hoisting method that can more stably and safely hoist towers onto the wind power foundation platform of offshore floating wind power. Attached Figure Description

[0021] Figure 1 A schematic diagram of a self-climbing crane for a floating wind turbine segmental tower. Figure 2 for Figure 1 Cross-sectional view at point AA; Figure 3 for Figure 2 Sectional view at point BB; Figure 4 A schematic diagram showing that both the upper and lower clamping assemblies clamp the installed tower. Figure 5 for Figure 4 A magnified view of a portion of the central circle C1; Figure 6 for Figure 4 A magnified view of a portion of the central circle D1; Figure 7 A schematic diagram showing the upper clamping group loosening the installed tower and the lower clamping group tightening the installed tower; Figure 8 for Figure 7 A magnified view of a portion of the area at circle C2 in the middle; Figure 9 A schematic diagram showing the upper clamping assembly clamping the installed tower and the lower clamping assembly releasing the installed tower; Figure 10 for Figure 9 A magnified view of a portion of the area at circle D2 in the middle; Figure 11 A schematic diagram illustrating the hoisting of the second tower section to be installed using a crane vessel; Figure 12 A schematic diagram showing the hoisting of the third tower segment to be installed using a self-climbing crane on a floating wind turbine segmental tower. Figure 13 A top view of a self-climbing crane installed on an installed tower for a floating wind turbine segmental tower. Figure 14 This is a schematic diagram showing the upper clamping assembly clamping, the lower clamping assembly releasing, and the lifting hydraulic cylinder retracting. Figure 15 This is a schematic diagram showing the upper clamping assembly loosening, the lower clamping assembly clamping, and the lifting hydraulic cylinder extending to lift the base.

[0022] Reference numerals: 1. Base; 11. Through hole; 2. Gantry crane frame; 21. Inclined arm; 211. First hinge pin; 212. Second hinge pin; 213. Third hinge pin; 3. Lifting hydraulic cylinder; 4. Upper clamp assembly; 41. Wedge clamp; 401. Wedge surface; 42. First locking hydraulic cylinder; 421. First connecting lug; 43. Guide connecting bolt; 5. Lower clamp assembly; 51. Arc clamp; 52. Second locking hydraulic cylinder; 53. Lifting hydraulic cylinder; 531. Second connecting lug; 6. Hydraulic lifter; 7. Sling assembly; 71. Main sling; 72. Support sling; 73. Lifting point; 81. Wind power foundation platform; 82. Installed tower; 83. Tower segment to be installed; 84. Crane boat. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0024] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of the present invention is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the present invention or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a particular device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on the present invention.

[0025] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," "parallel," and "coaxial" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, parallel, or coaxial. Rather, it may be slightly tilted or have deviations. For example, "horizontal" merely means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but can be slightly tilted. Alternatively, it can be simplified to mean that the corresponding device / component / element, when set in a "horizontal," "vertical," "suspended," "parallel," or "coaxial" direction, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0026] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0027] Furthermore, in the description of the embodiments of the present invention, "several", "more than", and "a number of" represent at least two. The number can be any number, such as 2, 3, 4, 5, 6, 7, 8, or 9, and can even exceed nine.

[0028] Furthermore, in the description of the technical solution of this invention, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "provided with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0029] Example 1 like Figure 1 As shown, this embodiment provides a self-climbing crane for a floating wind turbine segmental tower, including a crane assembly and a climbing assembly; like Figure 1 and Figure 13 As shown, the crane assembly includes a base 1, a gantry crane frame 2, a lifting hydraulic cylinder 3, and a lifting device assembly; like Figure 2 and Figure 4 As shown, the base 1 has a through hole 11 in the middle, which can be coaxially arranged with the installed tower 82. The diameter of the through hole 11 is larger than that of the installed tower 82. In a preferred embodiment, the diameter of the through hole 11 is slightly larger than that of the installed tower 82, such as 50mm-60mm larger. When the tower sections are connected by flanges, the diameter of the through hole 11 is larger than the outer diameter of the top flange of the installed tower 82. This allows the through hole 11 to move up and down along the installed tower 82. The flange is shown as an inner flange to avoid increasing the required diameter of the through hole 11 and to avoid the need for a larger stroke when clamping and loosening the installed tower 82 by the upper clamp group 4 and the lower clamp group 5 mentioned later.

[0030] In optional implementations, such as Figure 13 As shown, the projection outline of the base 1 on the horizontal plane is a square, and the center of the through hole 11 is located at the center of the projection outline of the base 1 on the horizontal plane, thereby ensuring balanced force and reducing instability and danger factors during use.

[0031] like Figure 13 As shown, the gantry crane 2 includes two parallel inclined arms 21 and a crossbeam connected to the ends of the two inclined arms 21. The first ends of the two inclined arms 21 are respectively hinged to the base 1 through a first hinge shaft 211 and the first hinge shaft 211 is coaxially arranged. The first hinge shaft 211 is horizontally arranged. The projections of the two inclined arms 21 on the base 1 are located on opposite sides of the through hole 11. This design allows the tower section 83 to be installed to be moved from between the two inclined arms 21 to directly above the installed tower 82 when hoisting the tower section 83 to be installed. This provides conditions for the base 1 to be fitted onto the installed tower 82, avoiding the limitation that the single arm of the existing single-arm crane can only set the base 1 on the side of the tower, which affects the movement space of the installed tower 82. like Figure 13As shown, each of the inclined arms 21 is provided with a corresponding lifting hydraulic cylinder 3. The projections of two lifting hydraulic cylinders 3 on the base 1 are located on opposite sides of the through hole 11. The lifting hydraulic cylinder 3 is parallel to or coincides with the projection of the corresponding inclined arm 21 on the base 1, as shown. Figure 1 As shown, one end of the lifting hydraulic cylinder 3 is hinged to the middle of the inclined arm 21 via the second hinge shaft 212, and the other end is hinged to the base 1 via the third hinge shaft 213; the second hinge shaft 212 and the third hinge shaft 213 are both parallel to the first hinge shaft 211; each inclined arm 21 is subjected to force by a lifting hydraulic cylinder 3, which can improve the balance of force application. By setting the first hinge shaft 211, the second hinge shaft 212 and the third hinge shaft 213 horizontally and parallel, the gantry crane 2 can rotate in the vertical plane with the axis where the first hinge shaft 211 is located as the axis of rotation, thereby changing the height of the crossbeam; In optional implementations, such as Figure 1 As shown, the first hinge pin 211 is located on the side of the base 1 inclined towards the inclined arm 21, meaning that the two inclined arms 21 of the gantry crane 2 are connected to the base 1 on the side inclined towards the inclined arm 21; the third hinge pin 213 is located on the side of the base 1 inclined away from the inclined arm 21, meaning that the lifting hydraulic cylinder 3 is connected to the side of the base 1 inclined away from the inclined arm 21; the second hinge pin 212 is located in the middle of the inclined arm 21 on the side inclined away from the inclined arm 21, so that the gantry crane 2 is located in front of the tower section 83 to be installed, and the lifting hydraulic cylinder 3 is located in the rear, thus enabling a large span that can be provided for lifting. Furthermore, the lifting hydraulic cylinder 3 is a luffing hydraulic cylinder, mainly providing luffing force, which can better realize the vertical turning of the gantry crane 2 (i.e.,...). Figure 1 With the first pivot as the center, the gantry crane 2 rotates left and right.

[0032] The lifting device assembly is connected to the lower middle part of the crossbeam. The lifting device assembly includes a lifting mechanism and several lifting points 73. The lifting mechanism can vertically change the height of the lifting points 73. By changing the height of the lifting points 73 through the lifting mechanism, the tower section 83 to be installed can be lifted from a higher position. In optional implementations, such as Figure 1 As shown, the lifting mechanism is a hydraulic lifter 6. The lifting assembly also includes a sling group 7 connected below the hydraulic lifter 6. The hydraulic lifter 6 is fixed to the middle of the crossbeam. The sling group 7 has several lifting points 73, which are used to connect the tower section 83 to be installed. The hydraulic lifter 6 can change the height of the lifting points 73. Compared with the prior art that uses fixed and movable pulley blocks and wire ropes for lifting, the present invention can use a hydraulic lifter 6, which has a simple structure and is lighter in weight. Of course, fixed and movable pulley blocks and wire ropes can also be used for lifting.

[0033] As a preferred implementation method, such as Figure 13 As shown, the projections of the two inclined arms 21 on the base 1 are symmetrically arranged about the center of the through hole 11 to ensure left-right force balance. The sling assembly 7 includes a main cable 71 and several branch cables 72. The upper end of the main cable 71 is connected to the hydraulic lifter 6, which is located at the center of the crossbeam. The upper ends of all the branch cables 72 are connected to the lower end of the main cable 71. All the branch cables 72 are provided with lifting points 73 at their lower ends. The lifting points 73 can be lifting rings or other lifting tools for connection and fixation. All the lifting points 73 are used to connect different parts of the upper edge of the tower section 83 to be installed, such as the bolt holes of the flange at the upper end of the tower section 83 to be installed. This ensures that when connecting the tower section 83 to be installed through the lifting points 73, the straight line of the projection of the center of the tower section 83 to be installed and the center of the installed tower 82 on the horizontal plane remains unchanged during the hoisting process. This makes the hoisting process more stable and makes the docking of the tower section 83 to be installed and the installed tower 82 more convenient and safer.

[0034] The climbing assembly includes a lower clamp group 5 and an upper clamp group 4, with the upper clamp group 4 located above the lower clamp group 5; The upper clamp assembly 4 includes at least two wedge-shaped clamps 41, such as Figure 3 As shown, the upper clamp group 4 includes four wedge-shaped clamps 41. All the wedge-shaped clamps 41 are arranged in a ring around the installed tower 82. The inner curvature of the wedge-shaped clamps 41 is adapted to the installed tower 82. An arc-shaped guide bolt 43 is provided between two adjacent wedge-shaped clamps 41 in the circumferential direction. The two ends of the guide bolt 43 extend into the two adjacent wedge-shaped clamps 41 in the circumferential direction, and the two adjacent wedge-shaped clamps 41 can slide along the guide bolt 43 between them; Figure 3 As shown, it can be understood that the adjacent ends of two adjacent wedge clamps 41 are provided with arc-shaped grooves or conduits, and the guide connecting bolt 43 is inserted into the groove or conduit, and the guide connecting bolt 43 can slide in the groove or conduit. Figure 3 This can be understood as the upper clamping group 4 already holding the installed tower 82 tightly. There is a certain distance between two adjacent wedge clamps 41, which can be 600mm-700mm. This distance is set to provide clamping margin to adapt to the outer diameter of the installed tower 82, making it more adaptable. The guide connecting bolt 43 can extend into the groove or conduit by 300mm-500mm to prevent the guide connecting bolt 43 from falling out. This setting allows the wedge clamps 41 to be connected into a whole circle through the guide connecting bolt 43. Even if the diameter of the upper clamping group 4 increases (to loosen the installed tower 82) or decreases (to clamp the installed tower 82), all the wedge clamps 41 are always located on the same plane, ensuring the stability and repeatability of the movement process, thereby improving the stability and safety of clamping.

[0035] Because the wedge clamp 41 is connected to the base 1 via a vertical first locking hydraulic cylinder 42, the first locking hydraulic cylinder 42 can only lift or lower the wedge clamp 41. The lower end of the through hole 11 and the outer side of the wedge clamp 41 are provided with a matching wedge surface 401. The wedge surface 401 on the outer side of the wedge clamp 41 is angled outwards and upwards, so that when the wedge clamp 41 is lifted, it can only move inwards due to the restriction of the wedge surface 401 at the lower end of the through hole 11. The first locking hydraulic cylinder 42 can move radially relative to the wedge clamp 41 and / or the base 1 along the installed tower 82. For example, the upper and lower ends of the first locking hydraulic cylinder 42 are respectively connected via a vertical first locking hydraulic cylinder 42. A connecting lug 421 connects the base 1 and the wedge clamp 41. The first connecting lug 421 includes two clamping plates on both sides and a connecting plate in the middle. The middle connecting plate is bolted to the clamping plates on both sides, and there is a gap between the middle connecting plate and the clamping plates on both sides, allowing the middle connecting plate to move axially relative to the clamping plates on both sides. By setting the bolt to move radially along the installed tower 82, the first locking hydraulic cylinder 42 can move radially relative to the wedge clamp 41 and / or the base 1 along the installed tower 82. This causes all the wedge clamps 41 to move upwards while simultaneously moving radially inwards along the installed tower 82, thus clamping the installed tower 82. Figures 2-5 As shown; under the self-weight of the self-climbing crane, the wedge-shaped surface 401 at the lower end of the hole 11 acts on the outer wedge-shaped surface 401 of the wedge-shaped clamp 41, thereby further preventing the wedge-shaped clamp 41 from opening, which can improve its clamping force; and when it is necessary to loosen the upper clamp assembly 4 from the installed tower 82, as shown Figure 7 and Figure 8 As shown, by synchronously extending the first locking hydraulic cylinder 42, as... Figure 8 As shown, the wedge clamp 41 descends and moves to the left, and the lifting hydraulic cylinder 53 moves to the left, causing the wedge clamp 41 to leave the side wall of the installed tower 82, that is, the upper clamp group 4 releases the installed tower 82.

[0036] The lower clamp assembly 5 includes two opposing arc-shaped clamps 51. The curvature of the two arc-shaped clamps 51 is adapted to the installed tower 82. The two arc-shaped clamps 51 are connected to the base 1 by a vertically arranged lifting hydraulic cylinder 53. The lifting hydraulic cylinder 53 can move radially relative to the arc-shaped clamps 51 or the base 1 along the installed tower 82. For example, the upper and lower ends of the lifting hydraulic cylinder 53 are connected to the arc-shaped clamps 51 and the base 1 by a second connecting ear plate 531. The structure of the second connecting ear plate 531 can be the same as that of the first connecting ear plate 421, so that the radial movement of the arc-shaped clamps 51 along the installed tower 82 is not restricted by the lifting hydraulic cylinder 53. The adjacent ends of the two arc-shaped clamps 51 are connected by a horizontally arranged second locking hydraulic cylinder 52, which tightens them. Figure 4 and Figure 6 As shown, the two arc-shaped clamps 51 can clamp the installed tower 82, and by extending the second locking hydraulic cylinder 52, the two arc-shaped clamps 51 can be disengaged from the installed tower 82, as shown. Figure 9 and Figure 10 .

[0037] The self-climbing crane also includes a hydraulic station, which is fixedly mounted on the base 1. The hydraulic station provides power to the lifting hydraulic cylinder 3, the first locking hydraulic cylinder 42, the second locking hydraulic cylinder 52 and the jacking hydraulic cylinder 53, providing more stable power.

[0038] In an optional embodiment, each of the arc-shaped clamps 51 is connected to the base 1 by at least three lifting hydraulic cylinders 53, and the arc-shaped clamps 51 are provided with at least one lifting hydraulic cylinder 53 at both ends and the middle. The adjacent ends of the two arc-shaped clamps 51 are connected by at least two horizontally arranged second locking hydraulic cylinders 52. The second locking hydraulic cylinders 52 at the adjacent ends of the two arc-shaped clamps 51 are arranged radially spaced along the arc-shaped clamps 51. Figure 2 As shown; The wedge clamp 41 is connected to the base 1 by at least three first locking hydraulic cylinders 42, and the wedge clamp 41 is provided with at least one first locking hydraulic cylinder 42 at both ends and the middle. Each of the first locking hydraulic cylinder 42, the lifting hydraulic cylinder 53, and the second locking hydraulic cylinder 52 is connected to the hydraulic station through a hydraulic pipe and is equipped with an electric control valve. When one of the hydraulic cylinders fails, the other hydraulic cylinder can continue to bear the force and try to maintain the balance of force, thereby providing protection against potential dangers and providing time for emergency repairs.

[0039] The self-climbing crane for the floating wind turbine segmental tower described in this embodiment uses a second locking hydraulic cylinder 52 to clamp the two opposing arc-shaped clamps 51 of the lower clamp group 5 onto the installed tower 82, ensuring the self-climbing crane is temporarily fixed to the installed tower 82. The extension and retraction of the lifting hydraulic cylinder 53 can change the height of the crane assembly's base 1 using the lower clamp group 5 as a support point. The first locking hydraulic cylinder 42 clamps the wedge-shaped clamps 41 of the upper clamp group 4 onto the installed tower 82, ensuring the self-climbing crane is temporarily fixed. On the installed tower 82, the height of the lower clamp group 5 can be changed by using the upper clamp group 4 as a support point through the extension and retraction of the lifting hydraulic cylinder 53. By cyclically using the lower clamp group 5 and the upper clamp group 4 as support points, the climbing component can self-climb on the installed tower 82, thereby driving the crane component to self-climb on the installed tower 82, thus enabling the hoisting of higher tower sections. The tightening method of both the upper and lower clamp groups 5 adopts hydraulic tightening. The lower clamp group 5 is an integral round clamp that always remains fitted on the installed tower 82 and will not open, making the structure simpler. It is simple and has higher stability, without affecting the hoisting of the tower; and the projections of the two inclined arms 21 of the gantry crane 2 of the crane assembly on the base 1 are located on opposite sides of the through hole 11, while the lifting assembly is connected to the lower part of the middle of the crossbeam between the ends of the two inclined arms 21. This design allows the tower segment 83 to be installed to be moved from between the two inclined arms 21 to directly above the installed tower 82 when hoisting, providing conditions for the base 1 to be fitted onto the installed tower 82, so that the base 1, the upper clamp assembly 4 and the lower clamp assembly can be used to achieve the desired effect. All components 5 can be fitted onto the outside of the installed tower 82, making the center of gravity of the self-climbing crane closer to the central axis of the installed tower 82. This reduces the overall center of gravity offset of the tower and the crane, lowers the horizontal force, and reduces the wind-exposed area due to the partial overlap between the self-climbing crane and the installed tower 82. This makes the self-climbing crane's self-climbing process using the installed tower 82 safer and more stable. Furthermore, during floating hoisting, the overall center of gravity is closer to the central axis of the installed tower 82, making it easier to control during floating hoisting.

[0040] Example 2 This embodiment provides a tower hoisting method, including the following steps: S1, such as Figure 11As shown, at least one tower segment is hoisted onto a floating wind turbine foundation platform 81 using lifting equipment to form an installed tower. The lifting equipment can be a crawler crane, gantry crane, overhead crane, or crane vessel 84, etc., and is installed on a shore base for easy hoisting onto the floating wind turbine foundation platform 81. The initial installed tower segment can be one, two, or three segments, or even more, depending on the installation conditions of the self-climbing crane for the floating wind turbine segmental tower in Embodiment 1 and the lifting height that the lifting equipment can reach. In this embodiment, two installed tower segments are initially hoisted for the self-climbing crane used to install the floating wind turbine segmental tower. Subsequent installations utilize the self-climbing crane to climb along the installed tower segments, reducing the need for additional lifting equipment.

[0041] S2. The self-climbing crane of the floating wind turbine segmental tower described in Example 1 is hoisted onto the installed tower 82. The installation can be done in parts, such as hoisting the lower clamp group 5, the second locking hydraulic cylinder 52, the lifting hydraulic cylinder 53, the first locking hydraulic cylinder 42, the base 1, the gantry crane frame 2, the lifting hydraulic cylinder 3, the hydraulic lifter 6, etc. in sequence; or the climbing component can be hoisted first and placed on the installed tower 82 from top to bottom, and then the crane component can be hoisted and placed on the installed tower 82 from top to bottom, and then the crane component and the climbing component can be connected; or the self-climbing crane of the floating wind turbine segmental tower can be hoisted as a whole and placed on the installed tower 82 from top to bottom. And conduct debugging, including debugging of each hydraulic cylinder and the lifting device components, to ensure normal use; After debugging, the wedge-shaped clamp 41 of the upper clamping group 4 and the arc-shaped clamp 51 of the lower clamping group 5 clamp the tower section, that is, the first locking hydraulic cylinder 42 and the second locking hydraulic cylinder 52 are both in the retracted state, and the first locking hydraulic cylinder 42, the second locking hydraulic cylinder 52 and the lifting hydraulic cylinder 53 are all locked; in an optional embodiment, the lifting hydraulic cylinder 53 is also in the fully retracted state, so that the lifting range of the pushing base 1 in step S4 is greater; S3, such as Figure 12 As shown, the next tower segment is hoisted using a self-climbing crane on the floating wind turbine segmental tower, forming a taller installed tower 82. In an optional implementation, the steps for hoisting the next tower segment using a self-climbing crane on a floating wind turbine segmental tower are as follows: S31. The extension of the lifting hydraulic cylinder 3 drives the gantry crane 2 to rotate until the lifting device assembly is above the tower section 83 to be installed. S32. Change the height of the lifting point 73 of the lifting assembly until the lifting point 73 can connect to the tower section 83 to be installed, and connect the lifting point 73 to the tower section 83 to be installed; specifically, the tower section 83 to be installed has flanges at both the upper and lower ends, and the flanges are provided with bolt holes for mating, and the lifting point 73 is connected to the bolt holes of the flanges.

[0042] S33, change the height of the lifting point 73 to raise the tower section 83 to be installed, and then drive the gantry crane 2 to rotate by retracting the lifting hydraulic cylinder 3 until the tower section 83 to be installed is lifted from between the two inclined arms 21 to directly above the installed tower 82. S34. Change the height of the lifting point 73 of the lifting device assembly, lower the tower section 83 to be installed to the installed tower 82 and achieve docking connection to form a higher installed tower 82.

[0043] S4. The self-climbing crane of the floating wind turbine segmental tower self-climbs along the installed tower section 82. The self-climbing steps are as follows: S4A, release the second locking hydraulic cylinder 52, and then control the second locking hydraulic cylinder 52 to extend, so that the two arc-shaped clamps 51 of the lower clamp group 5 move away from and release the installed tower 82; while keeping the first locking hydraulic cylinder 42 locked, and under the gravity of the self-climbing crane of the floating wind turbine segmental tower, the wedge clamp 41 clamps the installed tower 82. Release the locking of the lifting hydraulic cylinder 53, and then control the lifting hydraulic cylinder 53 to retract, thereby moving the lower clamp assembly 5 upward, as follows. Figure 14 As shown; After S4B and the lower clamp group 5 move into position, the lifting hydraulic cylinder 53 locks, and then the second locking hydraulic cylinder 52 is controlled to retract to the two arc-shaped clamps 51 of the lower clamp group 5 to clamp the installed tower 82, and then the second locking hydraulic cylinder 52 is locked again; the first locking hydraulic cylinder 42 and the lifting hydraulic cylinder 53 are released from locking, and all lifting hydraulic cylinders 53 extend synchronously to lift the base 1 upwards, while the first locking hydraulic cylinder 42 extends, such as Figure 15 As shown; After S4C and base 1 are lifted into position, lock the lifting hydraulic cylinder 53 and retract the first locking hydraulic cylinder 42 so that the wedge clamp 41 clamps the tower section, and then lock the first locking hydraulic cylinder 42. S5. Repeat steps S3-S4 until the tower hoisting is completed.

[0044] The tower hoisting method described in this invention can more stably and safely achieve the hoisting of the tower on the wind power foundation platform 81 of offshore floating wind power.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-climbing crane for a floating wind turbine segmental tower, comprising a crane assembly and a climbing assembly; characterized in that, The crane assembly includes a base, a gantry crane frame, a lifting hydraulic cylinder, and a lifting device assembly; The base has a through hole in the middle, which can be coaxially arranged with the installed tower, and the diameter of the through hole is larger than that of the installed tower. The gantry crane includes two parallel inclined arms and a crossbeam connected to the ends of the two inclined arms. The first ends of the two inclined arms are respectively hinged to the base through a first hinge shaft, and the first hinge shaft is coaxially arranged. The first hinge shaft is horizontally arranged, and the projections of the two inclined arms on the base are located on opposite sides of the through hole. Each of the inclined arms is provided with a corresponding lifting hydraulic cylinder. The projections of the two lifting hydraulic cylinders on the base are located on opposite sides of the through hole. The lifting hydraulic cylinder is parallel or coincident with the projection of the corresponding inclined arm on the base. One end of the lifting hydraulic cylinder is hinged to the middle of the inclined arm through a second hinge shaft, and the other end is hinged to the base through a third hinge shaft. Both the second and third hinge shafts are parallel to the first hinge shaft. The lifting device assembly is connected to the lower part of the middle of the crossbeam. The lifting device assembly includes a lifting mechanism and several lifting points. The lifting mechanism can vertically change the height of the lifting points. The climbing assembly includes a lower clamp group and an upper clamp group, with the upper clamp group located above the lower clamp group; The upper clamp assembly includes at least two wedge clamps, all of which are arranged in a ring around the installed tower. The inner curvature of each wedge clamp is adapted to the installed tower. The lower end of the through hole is provided with a matching wedge surface on the outer side of the wedge clamp. The wedge surface on the outer side of the wedge clamp is arranged obliquely upward and outward. The wedge clamps are connected to the base via a vertical first locking hydraulic cylinder. The first locking hydraulic cylinder can move radially relative to the wedge clamps and / or the base along the installed tower. An arc-shaped guide bolt is provided between two adjacent wedge clamps in the circumferential direction. The two ends of the guide bolt extend into the two adjacent wedge clamps in the circumferential direction, and the two adjacent wedge clamps in the circumferential direction can slide along the guide bolt between them. The lower clamp assembly includes two opposing arc-shaped clamps, the curvature of which is adapted to the installed tower. The adjacent ends of the two arc-shaped clamps are connected by a horizontally arranged second locking hydraulic cylinder. The two arc-shaped clamps are connected to the base by a vertically arranged lifting hydraulic cylinder, which can move radially relative to the arc-shaped clamps or the base along the installed tower.

2. The self-climbing crane for a floating wind turbine segmental tower according to claim 1, characterized in that, The first hinge pin is located on the side of the base that is inclined toward the inclined arm, the third hinge pin is located on the side of the base that is inclined away from the inclined arm, and the second hinge pin is located in the middle of the inclined arm on the side that is inclined away from the inclined arm.

3. The self-climbing crane for a floating wind turbine segmental tower according to claim 2, characterized in that, The lifting hydraulic cylinder is a variable amplitude hydraulic cylinder.

4. The self-climbing crane for a floating wind turbine segmental tower according to claim 1, characterized in that, The lifting mechanism is a hydraulic lifter. The lifting device assembly also includes a sling assembly connected below the hydraulic lifter. The hydraulic lifter is fixed to the middle of the crossbeam. The sling assembly has several lifting points. The lifting points are used to connect the tower section to be installed. The hydraulic lifter can change the height of the lifting points.

5. A self-climbing crane for a floating wind turbine segmental tower according to claim 4, characterized in that, The projections of the two inclined arms on the base are symmetrically arranged about the center of the through hole. The sling assembly includes a main cable and several branch cables. The upper end of the main cable is connected to the hydraulic lifter, which is located at the center of the crossbeam. The upper ends of all the branch cables are connected to the lower end of the main cable. All the branch cables have lifting points at their lower ends. All the lifting points are used to connect different parts of the upper edge of the tower section to be installed.

6. A self-climbing crane for a floating wind turbine segmental tower according to claim 1, characterized in that, It also includes a hydraulic station, which is fixedly mounted on the base and provides power to the lifting hydraulic cylinder, the first locking hydraulic cylinder, the second locking hydraulic cylinder and the jacking hydraulic cylinder.

7. A self-climbing crane for a floating wind turbine segmental tower according to claim 6, characterized in that, Each of the arc-shaped clamps is connected to the base by at least three lifting hydraulic cylinders, and the arc-shaped clamps are provided with at least one lifting hydraulic cylinder at each end and the middle. The adjacent ends of the two arc-shaped clamps are connected by at least two horizontally arranged second locking hydraulic cylinders, which are arranged radially spaced along the arc-shaped clamps. The wedge clamp is connected to the base by at least three first locking hydraulic cylinders, and the wedge clamp is provided with at least one first locking hydraulic cylinder at both ends and the middle. Each of the first locking hydraulic cylinder, the lifting hydraulic cylinder, and the second locking hydraulic cylinder is connected to the hydraulic station via a hydraulic pipe and is equipped with an electric control valve.

8. A self-climbing crane for a floating wind turbine segmental tower according to any one of claims 1-7, characterized in that, The projection outline of the base on the horizontal plane is a square, and the center of the through hole is located at the center of the projection outline of the base on the horizontal plane.

9. A method for hoisting a tower, characterized in that, Includes the following steps: S1. At least one tower section is hoisted onto a wind power foundation platform floating in the water using lifting equipment to form an installed tower. S2. The self-climbing crane of the floating wind turbine segmental tower as described in any one of claims 1-8 is hoisted onto the installed tower and debugged. After debugging, the wedge clamp of the upper clamp group and the arc clamp of the lower clamp group clamp the tower segment, and the first locking hydraulic cylinder, the second locking hydraulic cylinder and the lifting hydraulic cylinder are all locked. S3. The next tower segment is hoisted using a self-climbing crane on the floating wind turbine segmental tower to form a taller installed tower. S4. The self-climbing crane for the floating wind turbine segmental tower self-climbs along the installed tower. The self-climbing steps are as follows: S4A. Release the second locking hydraulic cylinder, then control the second locking hydraulic cylinder to extend, so that the two arc-shaped clamps of the lower clamp group move away from and release the installed tower; while keeping the first locking hydraulic cylinder locked, the wedge clamps clamp the installed tower under the gravity of the self-climbing crane of the floating wind turbine segmental tower. Release the locking of the lifting hydraulic cylinder, and then control the lifting hydraulic cylinder to retract, thereby moving the lower clamping assembly upward; After the lower clamping assembly moves to its position, the lifting hydraulic cylinder is locked. Then, the second locking hydraulic cylinder is controlled to retract to the two arc-shaped clamps of the lower clamping assembly to clamp the installed tower. The second locking hydraulic cylinder is then locked again. The first locking hydraulic cylinder and the lifting hydraulic cylinder are released from their locks. All lifting hydraulic cylinders extend synchronously to lift the base upwards while the first locking hydraulic cylinder extends. After the S4C base is lifted into position, lock the lifting hydraulic cylinder and retract the first locking hydraulic cylinder so that the wedge clamp clamps the tower section, and then lock the first locking hydraulic cylinder. S5. Repeat steps S3-S4 until the tower hoisting is completed.

10. A tower hoisting method according to claim 9, characterized in that, In step S3, the following steps are taken to hoist the next tower segment using a self-climbing crane on the floating wind turbine segmental tower: S31. The extension of the lifting hydraulic cylinder drives the gantry crane to rotate until the lifting device assembly is above the tower section to be installed. S32. Change the height of the lifting point of the lifting device assembly until the lifting point can connect to the tower section to be installed, and connect the lifting point to the tower section to be installed. S33. Change the height of the lifting point to raise the tower section to be installed, and then drive the gantry crane to rotate by retracting the lifting hydraulic cylinder until the tower section to be installed is lifted from between the two inclined arms to the top of the installed tower. S34. Change the lifting point height of the lifting equipment assembly, lower the tower section to be installed to the installed tower and connect them to form a taller installed tower.

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