A blade positioning system and method for split offshore wind turbine installation

Abstract

The application provides a blade positioning system for split offshore wind turbine installation, comprising a crane, a crown block, a hoisting beam with a rotating platform, a wind catching mechanism, clamp one and clamp two which cooperate with each other, wherein the crane cooperates with the rotating platform of the hoisting beam through a steel rope, the crown block is used in pairs, the crown block moves along the crane, the crown block cooperates with the hoisting beam through a wind catching rope, oil cylinder one and oil cylinder two are arranged between the hoisting beam and clamp one, the two ends of the oil cylinder one and the two ends of the oil cylinder two are hinged to the hoisting beam and clamp one correspondingly, oil cylinder three and oil cylinder four are arranged between the hoisting beam and clamp two, the two ends of the oil cylinder three and the two ends of the oil cylinder four are hinged to the hoisting beam and clamp two correspondingly, oil cylinder five is arranged between the hoisting beam and the oil cylinder three, and oil cylinder six is arranged between the hoisting beam and the oil cylinder four, wherein the two ends of the oil cylinder five are hinged to the hoisting beam and the oil cylinder three, and the two ends of the oil cylinder six are hinged to the hoisting beam and the oil cylinder four, and the application solves the problem that the positioning angle between the blade root and the hub is large and it is difficult to accurately position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of blade installation equipment for offshore wind turbine installation, in particular to a blade positioning system and positioning method for split offshore wind turbine installation. BACKGROUND

[0002] At present, offshore wind turbines are gradually becoming larger, and due to the size limitation of the installation platform, most large wind turbines will be installed in a split mode, that is, a single blade hoisting mode. For single blade hoisting, the blade needs to be hoisted to a height of hundreds of meters, and the blade also needs to be accurately positioned to the hub. However, due to the wind speed of the sea surface, the blade will sway in the air, causing the installation holes on the flange plate at the root of the blade to be unable to be positioned with the installation holes on the flange plate of the hub. The previous blade hoisting is often in the form of a blade clamp, and the blade clamp can only make the blade rotate in one dimension in the plane, and adjust the attitude of the blade by cooperating with the wind, causing the blade to swing greatly, the positioning angle between the blade root and the hub is large, and it is difficult to accurately position. This increases the difficulty of high-altitude operation. It is necessary to wait for the wind speed to decrease to a controllable state, which increases the waiting time of the ship and machine, causing cost waste. The construction also puts forward higher requirements for the hoisting command. SUMMARY

[0003] The present application aims to provide a blade positioning system for split offshore wind turbine installation to overcome the deficiencies in the prior art.

[0004] To solve the above technical problems, the technical scheme of the present application is: a blade positioning system for split offshore wind turbine installation, comprising a crane, a crown block, a hoist beam with a rotating platform, a clamp one and a clamp two cooperating with a wind adjusting mechanism, wherein the crane cooperates with the rotating platform of the hoist beam through a steel rope, the crown block is used in pairs, the crown block moves along the crane, the crown block cooperates with the hoist beam through a wind adjusting rope, an oil cylinder one and an oil cylinder two are arranged between the hoist beam and the clamp one, the two ends of the oil cylinder one and the two ends of the oil cylinder two are hingedly connected to the hoist beam and the clamp one, an oil cylinder three and an oil cylinder four are arranged between the hoist beam and the clamp two, the two ends of the oil cylinder three and the two ends of the oil cylinder four are hingedly connected to the hoist beam and the clamp two, an oil cylinder five is arranged between the hoist beam and the oil cylinder three, and an oil cylinder six is arranged between the hoist beam and the oil cylinder four, wherein the two ends of the oil cylinder five are hingedly connected to the hoist beam and the oil cylinder three, and the two ends of the oil cylinder six are hingedly connected to the hoist beam and the oil cylinder four.

[0005] As an improvement of the blade positioning system for split offshore wind turbine installation of the present application, a range finder is further included, which is arranged at the hub along the circumference, and the adjacent range finders are spaced 120 degrees apart.

[0006] As an improvement of the blade positioning system for split offshore wind turbine installation of the present application, the fixture one comprises a frame with side wall openings and oil cylinders and fixed clamping plates, wherein the top of the frame is hinged with oil cylinder one and oil cylinder two, and the oil cylinder is arranged between the fixed clamping plate and the frame, and the fixed clamping plate is used in pairs to clamp the blade.

[0007] As an improvement of the blade positioning system for split offshore wind turbine installation of the present application, the fixed clamping plate is provided with an arc-shaped surface that is in close contact with the surface of the blade.

[0008] As an improvement of the blade positioning system for split offshore wind turbine installation of the present application, the wind catching mechanism comprises a connecting buckle connected with the rotating platform and a wind catching rope matched with the crane, wherein the two ends of the wind catching rope are connected with the connecting buckle and the crane.

[0009] To solve the above technical problems, the technical scheme of the present application is as follows: a blade positioning method for split offshore wind turbine installation, comprising the following steps

[0010] Step 1, the fixture one and the fixture two fix the blade;

[0011] Step 2, start the lifting beam, lift the blade, the crane walks on the lifting arm during the lifting process of the blade, the wind catching rope tightens the rotating platform to ensure the stable lifting of the blade;

[0012] Step 3, arrange three distance meters on the hub;

[0013] Step 4, preliminarily align the blade flange with the hub through the movement of the crane and the motor drive of the rotating platform;

[0014] Step 5, take the hub flange center as the reference point, set X and Y axes on the flange surface, and take the normal direction of the flange surface as the Z axis, wherein the rotating platform rotates to complete the translation along the X axis, the crane retracts and extends the steel rope, and the vertical movement of oil cylinder one and oil cylinder two and oil cylinder three and oil cylinder four completes the translation along the Y axis;

[0015] Step 6, adjust the direction of the blade rotation through the freedom of rotation around the X axis and the rotation around the Y axis, that is, the vertical movement of oil cylinder one and oil cylinder two and oil cylinder three and oil cylinder four completes the rotation around the X axis, and the rotation of the crane and the rotating platform completes the rotation around the Y axis, until the blade flange and the hub flange surface are parallel;

[0016] Step 7, compare the variable stroke along the Z axis with the value fed back by the distance meter, if the variable stroke is greater than the distance meter value, the butt joint can be performed; if the stroke does not meet the requirements, the position of the crane is readjusted, and steps 5 and 6 are repeated until the blade flange surface and the hub flange surface are basically in close contact;

[0017] Step 8: Connect the blades and hub. This involves cylinder five working with cylinder three and cylinder six working with cylinder four to complete the translation along the Z-axis. If the bolt positions of the blades and hub are not correct during the connection process, the angle of rotation around the Z-axis is adjusted by changing the hub pitch.

[0018] As an improvement to the blade positioning method for the installation of a split-type offshore wind turbine according to the present invention, in step 3, three rangefinders are arranged at the hub to complete the measurement of three measuring points on the hub flange. The measuring points are used to measure the distance from the blade flange in real time. Let the coordinates of the measuring points be (0, R, 0). The coordinates of the three measuring points L1, L2, and L3 on the blade flange are (0, R, L1). The blade flange normal vector can be obtained by using three points. Therefore, the angles α and β that need to be rotated around the X and Y axes are obtained, as shown in the following formulas:

[0019]

[0020] Then the normal vector is obtained.

[0021]

[0022] normal vector Projection vector on the YZ plane

[0023]

[0024] Then the normal vector is obtained. Projection vector in the XZ plane

[0025]

[0026] Using the formula for the angle between vectors: Seeking The angle between (0, 0, 1) and (0, 0, 1) is m. If the angle between (0, 0, 1) and (0, 0, 1) is n, then the angle of rotation around the X-axis is α = -m, and the angle of rotation around the Y-axis is β = -n.

[0027] Compared with existing technologies, the advantages of this invention are as follows: During construction, the overhead crane follows the blade lifting process on the boom, and the pre-tensioning force of the wind-guiding mechanism ensures the steady lifting of the blade. The stability of the lifting beam itself is also guaranteed during the docking of the blade flange and the hub flange. Simultaneously, a rotating platform is provided on the lifting beam, which is a slewing bearing driven by a motor gear for large-angle rotation of the blade. Hydraulic cylinders one to four are vertically arranged between the lifting beam and clamps one and two, allowing clamps one and two to move vertically and adjust the angle around the x-axis. Hydraulic cylinders five and six control the forward and backward movement of the blade, mainly for docking with the hub after the blade angle is in place. This solves the problem that previous blade lifting methods often relied on blade clamps, which only allowed the blade to rotate in one plane. Furthermore, the wind-guiding mechanism, when adjusting the blade's attitude, resulted in large blade swing amplitudes and large positioning angles between the blade root and the hub, making precise positioning difficult. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Fig. 1 This is a schematic diagram of the structure of the system for hoisting blades according to the present invention;

[0030] Fig. 2 A schematic diagram of the structure for assembling the blade and hub using clamps one and two in conjunction with the lifting beam;

[0031] Fig. 3 This is a structural diagram of the clamp used with the lifting beam.

[0032] Among them, 1. Crane; 2. Overhead crane; 3. Rotary platform; 4. Lifting beam; 5. Wind-guiding mechanism; 51. Connecting buckle; 52. Wind rope; 6. Clamp one; 61. Frame; 62. Hydraulic cylinder; 63. Fixed clamp plate; 7. Clamp two; 8. Hydraulic cylinder one; 9. Hydraulic cylinder three; 10. Hydraulic cylinder five; 11. Rangefinder; 12. Wheel hub; 13. Curved surface. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] As Figs. 1 to 3 shown, a blade positioning system for split offshore wind turbine installation, comprising a crane 1, a trolley 2, a hoist beam 4 with a rotating platform 3, a wind catching mechanism 5, a clamp one 6 and a clamp two 7, wherein the crane 1 is matched with the rotating platform 3 of the hoist beam 4 through a steel rope, the trolley 2 is used in pairs, the trolley 2 moves along the crane 1, the trolley 2 is matched with the hoist beam 4 through a wind catching rope 52, an oil cylinder one 8 and an oil cylinder two are arranged between the hoist beam 4 and the clamp one 6, the two ends of the oil cylinder one 8 and the two ends of the oil cylinder two are correspondingly hinged with the hoist beam 4 and the clamp one 6, an oil cylinder three 9 and an oil cylinder four are arranged between the hoist beam 4 and the clamp two 7, the two ends of the oil cylinder three 9 and the two ends of the oil cylinder four are correspondingly hinged with the hoist beam 4 and the clamp two 7, an oil cylinder five 10 is arranged between the hoist beam 4 and the oil cylinder three 9, and an oil cylinder six is arranged between the hoist beam 4 and the oil cylinder four, wherein the two ends of the oil cylinder five 10 are hinged with the hoist beam 4 and the oil cylinder three 9, and the two ends of the oil cylinder six are hinged with the hoist beam 4 and the oil cylinder four.

[0035] The system further comprises range finders 11 arranged at the wheel hub 12 along the circumference, and adjacent range finders 11 are spaced 120 degrees apart.

[0036] Referring Fig. 2 to the drawings, the clamp one 6 comprises a frame 61 with a side wall opening, an oil cylinder 62 and a fixed clamp plate 63, wherein the top of the frame 61 is hinged with the oil cylinder one 8 and the oil cylinder two, the oil cylinder 62 is arranged between the fixed clamp plate 63 and the frame 61, the fixed clamp plate 63 is used in pairs, and the fixed clamp plate 63 is used for clamping the blade. Wherein the clamp one 6 and the clamp two 7 are consistent in structure.

[0037] The fixed clamp plate 63 is provided with an arc surface 13 which is in close contact with the surface of the blade.

[0038] The wind catching mechanism 5 comprises a connecting buckle 51 connected with the rotating platform 3 and a wind catching rope 52 matched with the trolley 2, wherein the two ends of the wind catching rope 52 are connected with the connecting buckle 51 and the trolley 2.

[0039] A blade positioning method for split offshore wind turbine installation, comprising the following steps

[0040] Step 1, the clamp one 6 and the clamp two 7 fix the blade;

[0041] Step 2, start the hoist beam 4, hoist the blade, the trolley 2 walks on the hoist arm during the hoisting process of the blade, the wind catching rope 52 tightens the rotating platform 3 to ensure the steady lifting of the blade;

[0042] Step 3, arrange 3 range finders 11 at the wheel hub 12;

[0043] Step 4, preliminarily align the blade flange with the wheel hub 12 through the movement of the crane 1 and the motor drive of the rotating platform 3;

[0044] Step 5, the flange center of the hub 12 is taken as the reference point, and the flange surface is provided with X and Y axes, and the normal direction of the flange surface is Z axis, wherein the rotation platform 3 rotates to complete the translation along the X axis, the crane 1 retracts the steel rope, the oil cylinder one 8 and the oil cylinder two and the oil cylinder three 9 and the oil cylinder four to complete the translation along the Y axis;

[0045] Step 6, the direction of the blade rotation is adjusted through the freedom of rotation around the X axis and rotation around the Y axis, that is, the oil cylinder one 8 and the oil cylinder two and the oil cylinder three 9 and the oil cylinder four complete the rotation around the X axis, and the crane 1 is combined with the rotation platform 3 to complete the rotation around the Y axis, until the blade flange and the hub 12 flange surface are parallel;

[0046] Step 7, the value fed back by the range finder 11 and the variable stroke of the equipment along the Z axis are compared, if the variable stroke is greater than the range value, the butt joint can be carried out, if the stroke does not meet the requirements, the position of the crane 1 is readjusted, and steps 5 and 6 are repeated, until the blade flange surface and the hub 12 flange surface are basically fitted;

[0047] Step 8, the blade and the hub 12 are butt jointed, that is, the oil cylinder five 10 is combined with the oil cylinder three 9, the oil cylinder six is combined with the oil cylinder four to complete the translation along the Z axis, and if the bolt empty position of the blade and the hub 12 does not match during the butt joint process, the angle of rotation around the Z axis is adjusted through the variable pitch of the hub 12.

[0048] In step 3, three range finders 11 are arranged on the hub 12 to complete the arrangement of three measuring points on the hub 12 flange, the measuring points are used to measure the distance from the blade flange in real time, and the coordinates of the measuring points are (0, R, 0), The three-point coordinates of the blade flange according to the range L1, L2 and L3 of the three measuring points are (0, R, L1), The normal vector of the blade flange is obtained through the three points Thus, the angles α and β of rotation around the X and Y axes are obtained, and the formula is as follows:

[0049]

[0050] The normal vector is obtained

[0051]

[0052] The normal vector is obtained The projection vector in the YZ plane is obtained

[0053]

[0054] The normal vector is obtained The projection vector in the XZ plane is obtained

[0055]

[0056] By vector angle formula: The angle with (0, 0, 1) is m, the angle with (0, 0, 1) is n, the angle α of rotation around the X axis is -m, and the angle β of rotation around the Y axis is -n.

[0057] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the present application being defined by the appended claims rather than the above description, and it is intended to embrace all changes and modifications that fall within the meaning and scope of the equivalent elements of the claims. Any reference signs in the claims should not be considered as limiting the claims involved.

[0058] Furthermore, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the present specification is described in this way only for the sake of clarity, and a person skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by a person skilled in the art.​​

Claims

1. A blade positioning system for split offshore wind turbine installation, comprising a crane, a trolley, a hoist beam with a slewing platform, a wind catching mechanism, a cooperating clamp one and a clamp two, wherein, The crane is matched with the rotating platform of the beam through the steel rope, the crown block is used in pairs, the crown block moves on the crane, the crown block is matched with the beam through the wind rope, and the crane is characterized in that the oil cylinder one and the oil cylinder two are arranged between the beam and the clamp one, the two ends of the oil cylinder one and the two ends of the oil cylinder two are correspondingly hinged to the beam and the clamp one, the oil cylinder three and the oil cylinder four are arranged between the beam and the clamp two, the two ends of the oil cylinder three and the two ends of the oil cylinder four are correspondingly hinged to the beam and the clamp two, the oil cylinder five is arranged between the beam and the oil cylinder three, and the oil cylinder six is arranged between the beam and the oil cylinder four, wherein the two ends of the oil cylinder five are hinged to the beam and the oil cylinder three, and the two ends of the oil cylinder six are hinged to the beam and the oil cylinder four; the clamp one comprises a frame with a side wall opening, an oil cylinder and a fixed clamp plate, wherein the top of the frame is hinged to the oil cylinder one and the oil cylinder two, the oil cylinder is arranged between the fixed clamp plate and the frame, the fixed clamp plate is used in pairs, and the fixed clamp plate is used for clamping the blade. The range finder is arranged at the hub along the circumference, and adjacent range finders are spaced apart by 120 degrees.

2. A blade positioning system for split offshore wind turbine installation according to claim 1, characterized in that, The fixed clamp plate is provided with an arc surface matched with the surface of the blade.

3. A blade positioning system for split offshore wind turbine installation according to claim 1, characterized in that, The wind rope is matched with the crown block, and the two ends of the wind rope are connected with the connecting buckle and the crown block.

4. A method of blade positioning for use in the blade positioning system for offshore wind turbine installation in accordance with any one of claims 1-3, characterized in that, The method comprises the following steps Step 1, the clamp one and the clamp two fix the blade; Step 2, the beam is started to lift the blade, the crown block walks on the boom during the lifting process of the blade, the wind rope tightens the rotating platform, and the blade is stably lifted; Step 3, three range finders are arranged at the hub; Step 4, the blade flange is preliminarily aligned with the hub through the movement of the crane and the motor drive of the rotating platform; Step 5, the hub flange center is taken as a reference point, the flange surface is provided with X and Y axes, and the flange surface normal is Z axis, wherein the rotating platform rotates to complete the translation along the X axis, the crane retracts and releases the steel rope, the oil cylinder one and the oil cylinder two vertically move to complete the translation along the Y axis, and the oil cylinder three and the oil cylinder four vertically move to complete the translation along the Y axis; Step 6, the direction of the blade rotation is adjusted through the freedom of rotation around the X axis and the rotation around the Y axis, that is, the oil cylinder one and the oil cylinder two vertically move to complete the rotation around the X axis, the crane yawing rotating platform rotates to complete the rotation around the Y axis, and the blade flange and the hub flange surface are parallel; Step 7, the numerical value fed back by the range finder and the variable stroke of the equipment along the Z axis are compared, if the variable stroke is greater than the range finding value, the butt joint can be carried out, and if the stroke does not meet the requirement, the position of the crane is readjusted, steps 5 and 6 are repeated, and the blade flange surface and the hub flange surface are basically matched; Step 8, the blade and the hub are butt jointed, that is, the oil cylinder five cooperates with the oil cylinder three, the oil cylinder six cooperates with the oil cylinder four to complete the translation along the Z axis, and if the bolt empty position of the blade and the hub does not match during the butt joint process, the angle of rotation around the Z axis is adjusted through the hub variable pitch.

5. A blade positioning method for split offshore wind turbine installation according to claim 4, characterized in that, In step 3, 3 range finders are arranged at the hub to complete 3 measuring points at the hub flange, the measuring points are used to measure the distance from the blade flange in real time, and the coordinates of the measuring points are (0, R, 0), Then the three-point coordinates of the blade flange according to the range finding L1, L2, L3 of the three measuring points are (0, R, L1), The normal vector of the blade flange can be obtained through the three points So as to obtain the angles α and β that need to be rotated around the X and Y axes, and the formulas are as follows: ； then the normal vector is obtained : ； Normal vector In-YZ plane projection vector : ； Then the normal vector In the XZ plane projection : ； By vector angle formula: , get The angle between (0, 0, 1) is m, The angle between (0, 0, 1) is n, the angle α=-m needs to be rotated around the X axis, the angle β=-n needs to be rotated around the Y axis.

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