An integrated transportation device for Spar-type offshore wind turbines

Abstract

The present invention discloses an integral transportation device for a Spar-type offshore wind turbine, which relates to the technical field of offshore wind power equipment and includes a transportation ship platform. Rotating columns are provided on both sides of both end faces of the transportation ship platform. First robotic arms are rotatably connected to the rotating columns. A second robotic arm is rotatably connected to the end of the first robotic arm away from the rotating column. First hydraulic cylinders are rotatably connected to both sides of both end faces of the transportation ship platform. The output ends of the first hydraulic cylinders are respectively rotatably connected to the first robotic arms. Second hydraulic cylinders are rotatably connected to the positions of the first robotic arms close to the second robotic arms. The present invention adopts a modular and integrated design concept, featuring a simple structure, intelligent operation, and high transportation efficiency. The core technical breakthrough lies in the self-developed quick locking system and adaptive support platform, which enable the integral transportation without disassembling the wind turbine components, ensuring both the integrity of the equipment and the improvement of transportation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power equipment, and specifically to an integral transportation device for a Spar-type offshore wind turbine. Background Art

[0002] Offshore wind power is an important part of clean energy. Spar-type wind turbines, with their unique deep-water adaptability and stability, have become one of the core technologies for deep-sea and far-sea wind power development. Spar-type wind turbines adopt a single-column floating body structure, and the center of gravity is lowered through ballast tanks, significantly improving the stability and wave resistance in deep-water areas, especially suitable for deep-sea areas with a water depth exceeding 50 meters.

[0003] Currently, the single-unit capacity of offshore wind turbines has been increased from the early 3 - 5 MW to 15 MW or even higher, the blade length exceeds 100 meters, and the tower height exceeds 150 meters. This makes the transportation and installation of wind turbines face greater technical challenges. The transportation of offshore wind turbines is a key link in the construction of wind power projects, involving safely and efficiently transporting wind turbine components or integrally assembled wind turbines from the manufacturing site to the offshore installation site.

[0004] Due to the complex offshore environment, multiple challenges such as wind and waves, corrosion, and positioning accuracy need to be addressed during transportation. Therefore, special transportation vessels and special fixing devices are required. Traditional methods for transporting offshore wind turbines usually require disassembling the wind turbine into multiple components before transportation and then reassembling them at the installation site. This method is not only cumbersome, requiring a large amount of manpower, material resources, and time costs, but also easily damages the wind turbine components during disassembly and reassembly, affecting the integrity and service life of the equipment. At the same time, multiple disassembly and reassembly operations increase the uncertainty and safety risks during the installation process.

[0005] In addition, the offshore operation environment is complex and harsh, and sea conditions are changeable. Factors such as wind and waves, and ocean currents will seriously affect the stability of the transportation vessel and the wind turbine. During traditional transportation, it is difficult to fix the wind turbine components on the transportation vessel effectively, and it is difficult to resist severe sea conditions, resulting in a high risk of capsizing during transportation. Moreover, the number of wind turbines transported each time by traditional transportation methods is limited, and the transportation vessel needs to frequently shuttle between land and the offshore operation area, which significantly increases the transportation cost, and also causes a large amount of fuel consumption and carbon emissions, which is not conducive to the large-scale and efficient development of offshore wind power projects. Summary of the Invention

[0006] The purpose of the present invention is to provide an integral transportation device for a Spar-type offshore wind turbine to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] An integrated transportation device for a Spar-type offshore wind turbine, comprising a transportation ship platform. At both sides of both end faces of the transportation ship platform, rotating columns are provided. First robotic arms are rotatably connected to the rotating columns. At the end of the first robotic arm far from the rotating column, a second robotic arm is rotatably connected. At both sides of both end faces of the transportation ship platform, first hydraulic cylinders are rotatably connected. The output ends of the first hydraulic cylinders are respectively rotatably connected to the first robotic arms. At the positions of the first robotic arms close to the second robotic arms, second hydraulic cylinders are rotatably connected. The output ends of the second hydraulic cylinders are rotatably connected to the second robotic arms. A balance beam is fixedly connected between the ends of the two second robotic arms on the same side. A number of sliding sleeves are penetrated through the balance beam. A hoop assembly for fixing the wind turbine is provided on each sliding sleeve. On both sides of the transportation ship platform, track boxes are fixedly connected. A chute is opened on one side of each track box close to the balance beam. A sliding component for moving the position of the sliding sleeve is provided inside the track box.

[0009] As a further scheme of the present invention: The hoop assembly includes fixing blocks, which are respectively fixedly connected to both ends of the sliding sleeve. At the positions of the fixing blocks close to the middle of the sliding sleeve, hoop members are rotatably connected. A driving component for driving the hoop members to open and close is further provided on the fixing blocks.

[0010] As a further scheme of the present invention: The driving component includes a transfer groove, which is opened on one side of the fixing block far from the hoop member. A third hydraulic cylinder is rotatably connected in the transfer groove. The output end of the third hydraulic cylinder is rotatably connected to the hoop member.

[0011] As a further scheme of the present invention: The sliding component includes a hollow moving block, which is slidably connected inside the track box. A convex block is fixedly connected to one side of the hollow moving block close to the balance beam. The convex block is slidably connected to the chute. One end of the convex block far from the hollow moving block is fixedly connected to a fixing plate. A transfer seat is fixedly connected to the fixing plate. A support arm is rotatably connected to the transfer seat. One end of the support arm far from the fixing plate is fixedly connected to the sliding sleeve. A moving component for driving the hollow moving block to move in the track box is provided inside the hollow moving block. A limiting component for limiting the hollow moving block is further provided on the hollow moving block.

[0012] As a further scheme of the present invention: The moving component includes two racks, which are fixedly connected to the lower end face inside the track box. Bottom openings are opened on both sides of the lower end face of the hollow moving block. A wheel shaft is rotatably connected to the position of the hollow moving block inside the bottom opening. Gears are fixedly connected to both ends of the wheel shaft. A power component for driving the wheel shaft to rotate is further provided inside the hollow moving block. The gears are meshed with the racks.

[0013] As a further solution of the present invention: The power assembly includes a drive shaft, which is rotatably connected to the middle position of the hollow moving block. Both ends of the drive shaft are fixedly connected with worms, and worm wheels are fixedly connected to the middle of the wheel shafts. The worms are meshed with the worm wheels. One end of the hollow moving block is also provided with a servo motor for driving the drive shaft to rotate.

[0014] As a further solution of the present invention: The limiting assembly includes top openings, which are respectively opened at the four corners of the upper end surface of the hollow moving block, and limiting wheels are rotatably connected in the top openings.

[0015] As a further solution of the present invention: Rubber gaskets are attached to the inner arc surfaces of the hoop members.

[0016] As a further solution of the present invention: The fixing blocks on the two sliding sleeves are arranged staggeredly.

[0017] As a further solution of the present invention: A servo hydraulic system is also provided on the transport ship platform.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The present invention adopts a modular and integrated design concept, and has the characteristics of simple structure, intelligent operation, and high transportation efficiency. The core technical breakthrough lies in the self-developed quick locking system and adaptive support platform, which can realize the overall transportation without disassembling the fan components, ensuring the integrity of the equipment and improving the transportation efficiency. At the same time, it is equipped with a multi-degree-of-freedom hydraulic stability system, such as using a simple physical structure robotic arm as a fixed support, which can adjust the fan attitude in real time, effectively resist the influence of bad sea conditions, and greatly reduce the capsizing risk during transportation. The system also has the ability to transport and install multiple fans at one time. With the intelligent scheduling system, it significantly reduces the round-trip times of the transport ship, reduces the transportation cost, fuel consumption, and carbon emissions of offshore operations, greatly improves the work efficiency, and provides a reliable technical support for the large-scale development of offshore wind power. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the hoop assembly in the present invention.

[0022] Figure 3 It is a structural schematic diagram of the sliding component in the present invention.

[0023] Figure 4 It is an internal structural schematic diagram of the hollow moving block in the present invention.

[0024] Wherein: 1. Transportation ship platform; 2. First hydraulic cylinder; 3. Rotating column; 4. First robotic arm; 5. Second hydraulic cylinder; 6. Adapter seat; 7. Second robotic arm; 8. Slide groove; 9. Wind turbine; 10. Balance beam; 11. Support arm; 12. Track box; 13. Third hydraulic cylinder; 14. Adapter groove; 15. Fixed block; 16. Hoop member; 17. Sliding sleeve; 18. Hollow moving block; 19. Limiting wheel; 20. Servo motor; 21. Rack; 22. Protrusion; 23. Fixed plate; 25. Bottom opening; 26. Gear; 27. Axle; 28. Worm gear; 29. Drive shaft; 30. Worm; 31. Top opening. Detailed implementation manner

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figures 1 - 4, in the embodiment of the present invention, an integral transportation device for a Spar-type offshore wind turbine includes a transportation ship platform 1. Rotating columns 3 are provided on both sides of both end faces of the transportation ship platform 1. First robotic arms 4 are rotatably connected to the rotating columns 3. A second robotic arm 7 is rotatably connected to one end of the first robotic arm 4 away from the rotating column 3. First hydraulic cylinders 2 are rotatably connected to both sides of both end faces of the transportation ship platform 1. The output ends of the first hydraulic cylinders 2 are respectively rotatably connected to the first robotic arms 4. Second hydraulic cylinders 5 are rotatably connected to the positions of the first robotic arms 4 close to the second robotic arms 7. The output ends of the second hydraulic cylinders 5 are rotatably connected to the second robotic arms 7. Balance beams 10 are fixedly connected between the ends of the two second robotic arms 7 on the same side. A number of sliding sleeves 17 are respectively provided on the balance beams 10. Hoop assemblies for fixing the wind turbine 9 are provided on the sliding sleeves 17. Track boxes 12 are fixedly connected to both sides of the transportation ship platform 1. Chutes 8 are respectively opened on one side of the track boxes 12 close to the balance beams 10. A sliding component for moving the positions of the sliding sleeves 17 is provided inside the track boxes 12. A servo hydraulic system is further provided on the transportation ship platform 1. During transportation, first, the overall assembly of the wind turbine 9 is completed on the shore, and it is safely transferred to the transportation ship platform 1 by using hoisting technology. The wind turbines are arranged in a row and placed on the transportation ship platform 1 at appropriate intervals. The first robotic arms 4 and the second robotic arms 7 are used to place the wind turbines between the two balance beams 10. The positions of the first robotic arms 4 and the second robotic arms 7 can be adjusted respectively through the rotating columns 3, the first hydraulic cylinders 2 and the second hydraulic cylinders 5. Then, the positions of the support arms 11 and the hoop assemblies are adjusted by using the sliding component to make the hoops face the position of the wind turbine 9. The position of the wind turbine 9 is locked by using the hoop assemblies. The left and right hoops are completely in contact with and locked on the tower barrel of the wind turbine 9 to keep the wind turbine 9 stable. Then, the same steps are used to fix the other wind turbines 9 to realize the overall transportation of the wind turbines 9 and reduce the swaying during transportation.

[0027] The hoop assembly includes a fixed block 15 which is fixedly connected to both ends of the sliding sleeve 17 respectively. At positions of the fixed block 15 close to the middle of the sliding sleeve 17, hoop members 16 are rotatably connected. The fixed block 15 is also provided with a driving assembly for driving the hoop members 16 to open and close. The fixed blocks 15 on both sides of the sliding sleeve 17 are arranged staggeredly; the driving assembly includes a transfer groove 14 which is opened on a side of the fixed block 15 away from the hoop member 16. A third hydraulic cylinder 13 is rotatably connected in the transfer groove 14. The output end of the third hydraulic cylinder 13 is rotatably connected to the hoop member 16; Rubber gaskets are attached to the inner arc surfaces of the hoop members 16; during operation, the output end of the third hydraulic cylinder 13 pushes the hoop member 16 to move. The movement of the hoop member 16 can clamp on the wind turbine tower barrel. The pressure of the hoop member 16 is precisely adjusted to a predetermined value through the force feedback control of the force servo hydraulic system to lock the position of the wind turbine. Installing high-performance rubber gaskets inside the adapter seat 6 can effectively absorb vibrations. The adapter seats 6 on both the left and right sides are in full contact with and locked to the wind turbine tower barrel to form a stable fixing structure, so that the wind turbine remains stable during transportation.

[0028] The sliding component includes a hollow moving block 18 which is slidably connected inside the track box 12. A convex block 22 is fixedly connected to a side of the hollow moving block 18 close to the balance beam 10. The convex block 22 is slidably connected to the chute 8. One end of the convex block 22 away from the hollow moving block 18 is fixedly connected to a fixing plate 23. An adapter seat 6 is fixedly connected to the fixing plate 23. A support arm 11 is rotatably connected to the adapter seat 6. One end of the support arm 11 away from the fixing plate 23 is fixedly connected to the sliding sleeve 17. The hollow moving block 18 is internally provided with a moving component for driving the hollow moving block 18 to move inside the track box 12. The hollow moving block 18 is also provided with a limiting component for limiting the hollow moving block 18; the limiting component includes a top opening 31 which is respectively opened at four corners of the upper end surface of the hollow moving block 18. Limiting wheels 19 are rotatably connected in the top openings 31; The arranged moving component can drive the hollow moving block 18 to move. The movement of the hollow moving block 18 can drive the support arm 11 to move. The movement of the support arm 11 can adjust the position of the hoop assembly, so that the position of the hoop assembly can be adjusted accordingly according to the position of the wind turbine during use.

[0029] The moving component includes two racks 21, which are fixedly connected to the lower end surface inside the track box 12. Both sides of the lower end surface of the hollow moving block 18 are provided with bottom openings 25. A wheel shaft 27 is rotatably connected to the position of the hollow moving block 18 inside the bottom opening 25. Both ends of the wheel shaft 27 are fixedly connected with gears 26. A power component for driving the wheel shaft 27 to rotate is further provided inside the hollow moving block 18. The gear 26 meshes with the rack 21. The power component includes a drive shaft 29, which is rotatably connected to the middle position of the hollow moving block 18. Both ends of the drive shaft 29 are fixedly connected with worm gears 30. A worm wheel 28 is fixedly connected to the middle of the wheel shaft 27. The worm gear 30 meshes with the worm wheel 28. One end of the hollow moving block 18 is further provided with a servo motor 20 for driving the drive shaft 29 to rotate. When driving the hollow moving block 18 to move, the servo motor 20 drives the drive shaft 29 to rotate. The rotation of the drive shaft 29 drives the worm gear 30 to rotate. The rotation of the worm gear 30 can drive the worm wheel 28 to rotate. The rotation of the worm wheel 28 can drive the wheel shaft 27. The rotation of the wheel shaft 27 can drive the gear 26 to rotate. The rotation of the gear 26 cooperates with the rack 21 to further realize the movement of the hollow moving block 18.

[0030] The working principle of the present invention is: during operation, the overall assembly and quality inspection of the wind turbine 9 are completed in the onshore assembly area, and the wind turbine is safely transferred to the transport ship platform 1 by using the lifting technology, and the wind turbines are arranged in a row according to certain rules and accurately arranged at a predetermined interval to create the best conditions for subsequent fixing operations. Then, the first hydraulic cylinder 2 controls the movement of the first mechanical arm 4, and the second hydraulic cylinder 5 controls the movement of the second mechanical arm 7 to accurately place the wind turbine 9 between the two balance beams 10 to match the position of the wind turbine. Then, the sliding assembly is used to flexibly adjust the position of the support arm 11, the sliding sleeve 17 and the clamp assembly so that the center of the clamp is completely aligned with the axis of the wind turbine 9 tower, preparing for the locking and fixing of the wind turbine. The drive assembly is started, and the clamp pressure is accurately adjusted to the predetermined value through force feedback control to lock the position of the wind turbine 9. The addition of high-performance rubber gaskets on the inside of the clamp can effectively absorb vibrations, and the adapter seats 6 on the left and right sides are fully in contact and locked. A stable fixed structure is formed on the tower of the wind turbine 9, so that the wind turbine 9 remains stable during transportation. The above process is repeated to fix other wind turbines 9 on the transport ship platform 1 in turn to realize the overall transportation of the wind turbine 9 and control the shaking amplitude of the wind turbine 9 during transportation within a safe range to ensure that the wind turbine 9 can safely and completely reach the predetermined installation position. When the transport ship platform 1 arrives at the predetermined installation position, the hydraulic system first gradually releases the pressure of the clamping member 16 to ensure that the wind turbine 9 is smoothly separated from the clamping assembly. Secondly, the second mechanical arm 7 and the first mechanical arm 4 are automatically reset to a safe position. Finally, the heavy lifting equipment on the installation ship is used to lift the wind turbine 9 as a whole, so that it is separated from the gap in the hull and placed steadily on the base of the wind turbine 9. At this point, the transportation and installation process of the wind turbine 9 is completed. Similarly, the transport ship can continue to go to the next installation location to install the wind turbine 9 and install it according to the same process until all the wind turbines 9 are installed.

[0031] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Although this specification describes the embodiments, not every embodiment contains only one technical solution. This description is for clarity only. Those skilled in the art should read the specification as a whole. The technical solutions in the various embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An integrated transportation device for a Spar-type offshore wind turbine, comprising a transportation ship platform (1), characterized in that: Rotating columns (3) are provided at both sides of both end faces of the transport ship platform (1). First robotic arms (4) are rotatably connected to the rotating columns (3). A second robotic arm (7) is rotatably connected to one end of the first robotic arm (4) away from the rotating column (3). First hydraulic cylinders (2) are rotatably connected to both sides of both end faces of the transport ship platform (1). The output ends of the first hydraulic cylinders (2) are respectively rotatably connected to the first robotic arms (4). Second hydraulic cylinders (5) are rotatably connected to the positions of the first robotic arms (4) close to the second robotic arms (7). The output ends of the second hydraulic cylinders (5) are rotatably connected to the second robotic arms (7). Balance beams (10) are fixedly connected between the ends of the two second robotic arms (7) on the same side. A number of sliding sleeves (17) are provided through the balance beams (10). Hoop assemblies for fixing the fans (9) are provided on the sliding sleeves (17). Track boxes (12) are fixedly connected to both sides of the transport ship platform (1). Chutes (8) are provided on one side of the track boxes (12) close to the balance beams (10). A sliding component for moving the positions of the sliding sleeves (17) is provided inside the track boxes (12); The sliding component includes a hollow moving block (18). The hollow moving block (18) is slidably connected inside the track box (12). A convex block (22) is fixedly connected to one side of the hollow moving block (18) close to the balance beam (10). The convex block (22) is slidably connected to the chute (8). A fixing plate (23) is fixedly connected to one end of the convex block (22) away from the hollow moving block (18). A connecting seat (6) is fixedly connected to the fixing plate (23). A support arm (11) is rotatably connected to the connecting seat (6). One end of the support arm (11) away from the fixing plate (23) is fixedly connected to the sliding sleeve (17). A moving component for driving the hollow moving block (18) to move inside the track box (12) is provided inside the hollow moving block (18). A limiting component for limiting the hollow moving block (18) is also provided on the hollow moving block (18); The moving component includes two racks (21). The two racks (21) are fixedly connected to the lower end face inside the track box (12). Bottom openings (25) are provided on both sides of the lower end face of the hollow moving block (18). A wheel shaft (27) is rotatably connected to the position of the hollow moving block (18) inside the bottom opening (25). Gears (26) are fixedly connected to both ends of the wheel shaft (27). A power component for driving the wheel shaft (27) to rotate is further provided inside the hollow moving block (18). The gears (26) are engaged with the racks (21); The power assembly includes a drive shaft (29), the drive shaft (29) is rotatably connected to the middle position of the hollow moving block (18), both ends of the drive shaft (29) are fixedly connected with worm gears (30), a worm wheel (28) is fixedly connected to the middle of the wheel shaft (27), the worm gear (30) is meshed with the worm wheel (28), and a servo motor (20) for driving the drive shaft (29) to rotate is further provided at one end of the hollow moving block (18).

2. The overall transportation device for a Spar-type offshore wind turbine according to claim 1, characterized in that, The hoop assembly includes fixed blocks (15), the fixed blocks (15) are respectively fixedly connected to the two ends of the sliding sleeve (17), a hoop member (16) is rotatably connected to the position of each fixed block (15) close to the middle of the sliding sleeve (17), and a drive assembly for driving the hoop member (16) to open and close is further provided on the fixed block (15).

3. The overall transportation device for a Spar-type offshore wind turbine according to claim 2, characterized in that The drive assembly includes a transfer groove (14), the transfer groove (14) is opened on the side of the fixed block (15) away from the hoop member (16), a third hydraulic cylinder (13) is rotatably connected in the transfer groove (14), and the output end of the third hydraulic cylinder (13) is rotatably connected with the hoop member (16).

4. A Spar-type offshore wind turbine integral transportation device according to claim 1, characterized in that, The limiting assembly includes top openings (31), the top openings (31) are respectively opened at the four corners of the upper end surface of the hollow moving block (18), and a limiting wheel (19) is rotatably connected in each top opening (31).

5. A Spar-type offshore wind turbine integral transportation device according to claim 2, characterized in that, Rubber gaskets are attached to the inner arc surfaces of the hoop members (16).

6. The integral transportation device for a Spar-type offshore wind turbine according to claim 2, characterized in that The fixed blocks (15) on the two sliding sleeves (17) are arranged staggeredly.

7. The overall transportation device for a Spar-type offshore wind turbine according to claim 1, characterized in that, A servo hydraulic system is further provided on the transport ship platform (1).

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