Heave compensation tool, heave compensation system and heave compensation method

Abstract

The invention discloses a heave compensation tool, a heave compensation system and a control method. The heave compensation tool comprises a main body part; the moving block is slidably mounted on the main body part; the driving mechanism is used for driving the moving block to slide in the axial direction of the main body part; the first sensor is arranged on the moving block and used for detecting the heaving state of the moving block; the main body part is provided with a first hoisting part, the moving block is provided with a second hoisting part, the driving mechanism and the first sensor are electrically connected with the controller, and the controller is used for controlling the driving mechanism to act so that the moving block can have preset heaving displacement. When the heave compensation tool is applied to offshore installation, operation and maintenance of the floating wind turbine generator, the heave compensation tool is connected between a lifting hook of a self-elevating platform installation ship and a unit component to be installed, and the controller can control the moving block to perform heave compensation on the unit component to be installed, so that the unit component to be installed and the installed unit component are kept relatively static; and the lifting force of the crane is kept unchanged, so that the problem of static-to-dynamic is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power, and in particular to a heave compensation tool, a heave compensation system and a heave compensation method. Background Art

[0002] At present, the construction process of floating wind turbines is mainly to assemble the wind turbines on the floating foundation by crane at the dock, and then transport the whole to the machine site by wet towing. Due to the high weight and height of the affordable large-capacity units, there are currently no larger and more suitable cranes on the market that can assemble large-capacity units at the dock. Even if the crane resources exist, the carrying capacity of the dock is very limited, and there are very few docks that can meet such a large carrying capacity. Furthermore, after the floating wind turbine is installed at the dock, it is necessary to tow the floating foundation and the wind turbine from the dock to the offshore machine site over a long distance. If strong convective weather or typhoons are encountered during the towing process, the transportation risk is very high and the consequences will be disastrous. At the same time, the existing floating wind turbine replacement plan is to tow the entire floating body and wind turbine to the dock for large component replacement, which makes the maintenance cost of the floating wind turbine very high.

[0003] It can be expected that in the future, the installation and operation of large-capacity floating wind turbines at offshore sites will be the mainstream method. However, the installation and operation of offshore sites will face a static-dynamic installation condition when using a self-elevating platform. For example, after the crane is docking the unit components to be installed with the unit components installed on the floating foundation, the bolts have not been inserted yet. Due to the shaking of the floating foundation, the lifting force of the crane will continue to change, and the docking surfaces between the unit components will sometimes have gaps and sometimes not. This will bring difficulties to personnel in installing and tightening bolts. In serious cases, there will be risks such as overturning of unit components, overturning of the installation ship's crane arm, and damage to the flange of the unit components.

[0004] Therefore, how to provide a heave compensation tool that can safely realize the installation and operation and maintenance of floating wind turbines at offshore engine sites is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide a heave compensation tool, a heave compensation system and a control method, which can safely realize the installation and operation and maintenance of a floating wind turbine at an offshore machine site.

[0006] In order to solve the above technical problems, the present invention provides a heave compensation tool, comprising:

[0007] Main body;

[0008] A moving block, slidably mounted on the main body;

[0009] A driving mechanism, used for driving the moving block to slide along the axial direction of the main body;

[0010] A first sensor, disposed on the moving block, for detecting a heave state of the moving block;

[0011] The main body is provided with a first hoisting part, the moving block is provided with a second hoisting part, the driving mechanism and the first sensor are electrically connected to the controller, and the controller is used to control the action of the driving mechanism so that the moving block has a preset heave displacement.

[0012] Optionally, the heave compensation tooling also includes an adjusting mechanism, which is connected between the moving block and the second lifting part, and the adjusting mechanism can drive the second lifting part to move along a first direction and a second direction, and the first direction, the second direction and the axial direction of the main body are perpendicular to each other.

[0013] Optionally, the heave compensation tooling further includes a rotating mechanism, wherein the rotating mechanism is connected between the main body and the first hoisting part, and the rotating mechanism can drive the main body to rotate relative to the first hoisting part.

[0014] Optionally, the heave compensation tooling further comprises a self-stabilizing mechanism, which is used to connect the main body and the boom of the lifting device and adjust the tension between the main body and the boom to stabilize the posture of the heave compensation tooling.

[0015] Optionally, the heave compensation tooling also includes a self-stabilizing mechanism, which includes a telescopic unit, a connecting rope and a tension sensor. The telescopic unit is arranged on the main body, and the telescopic unit and the connecting rope are connected to each other. The end of the connecting rope away from the telescopic unit is used to connect the boom, and the telescopic direction of the telescopic unit and the axial direction of the main body have an angle. The tension sensor is arranged on the connecting rope, and the telescopic unit and the tension sensor are both electrically connected to the controller. The controller is used to control the telescopic unit to extend and retract so that the tension of the connecting rope is constant.

[0016] The present invention also provides a heave compensation system, comprising the above-mentioned heave compensation tooling, wherein:

[0017] The first hoisting part of the heave compensation tool is connected to the lifting device, and the second hoisting part is connected to the unit component to be installed;

[0018] It also includes a second sensor, which is used to detect the heave state of the installed unit components, and the second sensor is electrically connected to the controller.

[0019] The heave compensation system of the present invention includes the aforementioned heave compensation tooling, and therefore has the same technical effects as the aforementioned heave compensation tooling, which will not be described in detail herein.

[0020] The present invention also provides a heave compensation method, based on the above heave compensation system, comprising the following steps:

[0021] The heave state of the installed unit component is detected, and the moving block is controlled to perform heave compensation so that the installed unit component and the moving block have the same heave displacement.

[0022] The heave compensation method of the present invention is based on the aforementioned heave compensation system, and therefore has the same technical effects as the aforementioned heave compensation system, which will not be described in detail herein.

[0023] Optionally, before hoisting the unit components to be installed, the heave compensation method further includes the following steps:

[0024] The regulating mechanism is controlled to move, and the hoisting position of the second hoisting part is driven to move along the first direction and the second direction, so that the hoisting position of the second hoisting part corresponds to the hoisting point position on the hoisting device for installing the unit component.

[0025] Optionally, the method further includes the following steps:

[0026] The rotation mechanism is controlled to move, and the main body is driven to rotate relative to the first hoisting part, so that the flange reference line of the unit component to be installed can be aligned with the flange reference line of the installed unit component.

[0027] Optionally, the method further includes the following steps:

[0028] The tension of the connecting rope is detected. When the tension of the connecting rope deviates from the preset tension, the telescopic unit is controlled to be telescopic. When the tension of the connecting rope returns to the preset tension, the telescopic unit is controlled to stop moving.

[0029] The heave compensation tooling of the present invention can be applied to the offshore installation and operation and maintenance of floating wind turbines, and is specifically used for docking and installing unit components to be installed with unit components already installed on a floating foundation, or for replacing unit components, in order to solve the "static to dynamic" docking problem encountered when docking unit components to be installed with installed unit components due to the shaking of the floating foundation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic structural diagram of a specific embodiment of the heave compensation tooling provided by the present invention;

[0031] Figure 2 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the second angle;

[0032] Figure 3 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the third angle;

[0033] Figure 4 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the fourth angle;

[0034] Figure 5 for Figure 1 Schematic diagram of the structure of the fifth angle of the heave compensation tooling;

[0035] Figure 6 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the sixth angle;

[0036] Figure 7 for Figure 1 Working status diagram of heave compensation tooling;

[0037] in, Figure 1-Figure 7 The reference numerals in the figures are described as follows:

[0038] 1-heave compensation tooling; 100-main body; 1001-base; 1002-vertical beam; 100a-guide rail; 101-moving block; 101a-clamping protrusion; 102-first lifting part; 1021-lifting beam; 1022-lifting seat; 103-second lifting part; 1031-lifting seat; 1031a-sliding block; 1031b-second ear plate; 1031c-lifting ring; 104-first sensor; 105-controller; 106-lifting belt; 10 7-first drive unit; 1071-first drive unit; 1071a-connecting plate; 1072-gear; 1073-rack; 108-second drive unit; 1081-first connecting arm; 1082-second connecting arm; 108a-long arm; 108b-connecting arm; 1083-hinged shaft; 1084-second drive unit; 109-accumulator; 110-connecting assembly; 1101-first ear plate; 111-adjusting mechanism; 1111-third Driving unit; 1112-first screw rod; 1113-first screw nut; 1114-adjusting arm; 1114a-first adjusting arm; 1114b-second adjusting arm; 1115-fourth driving unit; 112-third ear plate; 113-rotating mechanism; 1131-connecting bearing; 1131a-engaging tooth portion; 1132-driving tooth portion; 1133-power component; 1134-first bevel gear; 1135-second bevel gear; 114-mounting plate ; 115-fourth ear plate; 116-fifth ear plate; 117-self-stabilizing mechanism; 1171-telescopic unit; 1171a-X-shaped telescopic frame; 1171b-sixth driving unit; 1171c-second screw rod; 1171d-second nut; 1172-connecting rope; 1173-tension sensor; 118-sixth ear plate; 119-connecting block; 120-power supply unit; a-first connecting groove; b-second connecting groove; c-clamping groove; d-guide groove;

[0039] 2- Unit components to be installed;

[0040] 3-Floating foundation;

[0041] 4- The components of the unit have been installed;

[0042] 5- jack-up platform installation vessel; 511- hook; 512- boom;

[0043] 6- Second sensor. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] The “plurality” mentioned herein generally means more than two; and when “plurality” is used to indicate the number of certain components, it does not indicate the relationship between the quantities of these components.

[0046] Please refer to Figure 1-Figure 7 , Figure 1 A schematic structural diagram of a specific embodiment of the heave compensation tooling provided by the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the second angle; Figure 3 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the third angle; Figure 4 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the fourth angle; Figure 5 for Figure 1 Schematic diagram of the structure of the fifth angle of the heave compensation tooling; Figure 6 for Figure 1 Schematic diagram of the structure of the heave compensation tooling at the sixth angle; Figure 7 for Figure 1 Working status diagram of the heave compensation tooling.

[0047] The present invention provides a heave compensation tool 1, comprising:

[0048] Main body 100;

[0049] The moving block 101 is slidably mounted on the main body 100;

[0050] A driving mechanism, used for driving the moving block 101 to slide along the axial direction of the main body 100;

[0051] A first sensor 104 is provided on the moving block 101 and is used to detect the heave displacement of the moving block 101;

[0052] in:

[0053] The main body 100 is provided with a first hoisting part 102, the moving block 101 is provided with a second hoisting part 103, the driving mechanism and the first sensor 104 are electrically connected to the controller 105, and the controller 105 is used to control the action of the driving mechanism so that the moving block 101 has a preset heave displacement.

[0054] The heave compensation tool 1 of the present invention can be applied to the offshore installation and operation and maintenance of floating wind turbines, and is specifically used for docking and installing the unit component 2 to be installed with the installed unit component 4 installed on the floating foundation 3, or replacing the unit component. In order to solve the "static to dynamic" problem encountered when the unit component 2 to be installed and the installed unit component 4 are docked or disassembled due to the shaking of the floating foundation 3, the present invention proposes a heave compensation tool 1, which is connected between the hook 51 of the crane on the self-elevating platform installation ship 5 and the unit component 2 to be installed, specifically:

[0055] The hook 51 is connected to the first hoisting part 102 through the sling 106, and the unit component 3 to be installed is connected to the second hoisting part 103 through the sling 106. The controller 105 is the control core of the entire heave compensation tool 1. The controller 105 can calculate the heave displacement that needs to be compensated for the moving block 101 according to the heave state of the floating foundation 3, and control the drive mechanism to start. The drive mechanism can drive the moving block 101 to slide along the axial direction of the main body 100 to perform heave compensation; at the same time, the first sensor 104 set on the moving block 101 can measure the heave displacement value of the moving block 101 in real time, and transmit the detection result to the controller 105. The controller 105 can detect the heave of the moving block 101 detected by the first sensor 104. The displacement is compared with the heave displacement of the floating foundation 3 until the two displacement values ​​are equal, that is, the preset heave displacement of the moving block 101 is equal to the heave displacement of the floating foundation 3. At this time, the controller 105 controls the driving mechanism to stop moving. According to the shaking amplitude and frequency of the floating foundation 3, the heave compensation tooling 1 of the present invention will repeatedly perform heave compensation on the unit component 2 to be installed through the moving block 101, so that the unit component 2 to be installed and the installed unit component 4 are always kept relatively still. In this way, the lifting force of the crane can always remain unchanged, and it will be more effective and safer for personnel to loosen or tighten the connecting bolts of the unit components. Moreover, during the lifting period, the unit component will not overturn, the crane arm 52 will overturn, and the unit component flange will not be damaged.

[0056] It can be seen that the heave compensation tool 1 of the present invention can solve the "static against dynamic" problem encountered when the unit component 2 to be installed and the installed unit component 4 are connected or disassembled due to the shaking of the floating foundation 3, and safely realize the installation and operation and maintenance of large-capacity floating wind turbines at offshore machine sites, ensuring the feasibility of the offshore construction process of large-capacity floating wind turbines; at the same time, the process scheme of installing floating wind turbines at offshore machine sites using the heave compensation tool 1 does not require the use of large-sized and large-tonnage dock cranes at the dock, nor does it require the occupation of dock resources to transform the dock bearing capacity, which can greatly reduce The construction cost of large-capacity floating wind turbines can be reduced. At the same time, when installing floating wind turbines at sea, there is no need to tow the floating foundation 4 and the wind turbine as a whole, which greatly reduces the towing cost and the uncertain risks in the towing process, such as typhoon interference, and reduces the transportation risk. In addition, the use of the heave compensation tooling 1 can also take into account the replacement of large components of the floating wind turbines in the later stage, ensuring the feasibility of future offshore operation and maintenance of large-capacity floating wind turbines in the deep sea, without the need to adopt the existing method of towing the entire unit to the dock for replacement of large components, which greatly reduces the maintenance cost of the floating wind turbines.

[0057] Among them, Figure 1It can be seen that in this embodiment, the controller 105 is arranged at the upper end of the main body 100. In practical applications, the arrangement position of the controller 105 does not affect the realization of its functions, so the arrangement position of the controller 105 is not limited, and the control principle of the controller 105 is a prior art well known to those skilled in the art, which will not be described in detail here.

[0058] It can be understood that the heave compensation tool 1 of the present invention can not only be applied to the offshore installation and operation and maintenance of floating wind turbines, but is also applicable to other "static to dynamic" working conditions that require heave compensation. In actual applications, the moving block 101 is connected to the "static unit", and the controller 105 can obtain the heave state of the "dynamic unit" and perform heave compensation through the moving block 101 to ensure that the preset heave displacement of the moving block 101 is the same as the heave displacement of the "dynamic unit", thereby ensuring that the "static unit" and the "dynamic unit" always remain relatively stationary.

[0059] In the present invention, the first sensor 104 is a displacement sensor, which can directly detect the heave displacement of the moving block 101. In practice, the first sensor 104 can also be an acceleration sensor, which is used to detect the heave acceleration of the moving block 101, and transmit the detected heave acceleration of the moving block 101 to the controller 105, and the controller 105 obtains the heave displacement of the moving block 101 after a quadratic integral series calculation. It can be seen that the first sensor 104 is actually used to detect the heave state of the moving block 101.

[0060] As mentioned above, when the heave compensation tool 1 of the present invention is applied to offshore installation and operation and maintenance of floating wind turbines, the controller 105 can obtain the heave state of the floating foundation 3, specifically, Figure 7 As shown, a second sensor 6 may be provided on the floating foundation 3 or the installed unit component 4 installed on the floating foundation 3. The second sensor 6 is electrically connected to the controller 105. The second sensor 6 may be an acceleration sensor or a displacement sensor, wherein:

[0061] When the second sensor 6 is an acceleration sensor, the second sensor 6 is used to detect the heave acceleration of the floating foundation 3, and transmit the detected heave acceleration to the controller 105, and the controller 105 obtains the heave displacement of the floating foundation 3 after a secondary integral series calculation;

[0062] When the second sensor 6 is a displacement sensor, the second sensor 6 can directly detect the heave displacement of the floating foundation 3 , and transmit the detected heave displacement to the controller 105 .

[0063] As mentioned above, the heave compensation tool 1 of the present invention includes a driving mechanism for driving the moving block 101 to slide along the axial direction of the main body 100. In this embodiment, the driving mechanism includes a first driving part 107, specifically:

[0064] The first driving part 107 includes a gear rack transmission unit and a first driving unit 1071. The gear rack transmission unit includes a gear 1072 and a rack 1073 that mesh with each other. The rack 1073 is arranged on the main body 100. The rack 1073 extends along the axial direction of the main body 100. The first driving unit 1071 can be a driving motor. The driving motor is arranged on the moving block 101. The output shaft of the driving motor and the gear 1072 are connected one by one for driving the gear 1072 to rotate. The controller 105 is electrically connected to the driving motor.

[0065] In this way, when it is necessary to control the moving block 101 to perform heaving and sinking movements, the controller 105 can control the drive motor to start, the output shaft of the drive motor to rotate, and drive the gear 1072 to rotate synchronously. Under the meshing action of the gear 1072 and the rack 1073, the gear 1072 can also move along the extension direction of the rack 1073, thereby realizing the axial sliding of the moving block 101 along the main body 100.

[0066] Depend on Figure 1 It can be seen that in this embodiment, there are two first driving parts 107, and the two first driving parts 107 are arranged on the left and right sides of the main body 100. In this way, the two first driving parts 107 can be started at the same time, and the left and right sides of the moving block 101 are subjected to the same driving force, ensuring that the moving block 101 can stably slide along the axial direction of the main body 100; at the same time, the two first driving parts 107 have a redundant design feature, and the reliability is higher.

[0067] In practical applications, the number of the first driving units 107 is not limited, for example, the number of the first driving unit 107 may be at least one.

[0068] Depend on Figure 1 It can be seen that in this embodiment, the rack 1073 is provided with teeth on both sides in the width direction, the number of gears 1072 is four, two gears 1072 are distributed as a group on both sides of the width direction of the rack 1073, and mesh with the teeth on the corresponding sides of the rack 1073, each group of first drive parts 107 has four first drive units 1071, and the output shafts of the first drive units 1071 are connected to the gears 1072 one by one.

[0069] In this way, the four first drive units 1071 can operate simultaneously, driving the four gears 1072 to slide synchronously along the axial direction of the rack 1073 to provide greater driving force and realize the axial sliding of the moving block 101 along the main body 100; at the same time, the four first drive units 1071 have redundant design characteristics and higher reliability.

[0070] In practical applications, there is no limit to the number of first drive units 1071 and gears 1072 in each group of first drive parts 107. The number of first drive units 1071 and gears 1072 in each group of first drive parts 107 can be at least one, and the number of the two can correspond one to one.

[0071] In addition, in this embodiment, the number of the rack 1073 is one, and the rack 1073 is provided with teeth on both sides in the width direction, and the two gears 1072 are distributed as a group on both sides in the width direction of the rack 1073. In practice, it is also feasible to set four gears 1072 on the same side of the rack 1073, and to sequentially distribute the four gears 1072 along the axial direction of the rack 1073. Of course, the arrangement of this embodiment can make more full use of the space on both sides of the rack 1073, reduce the axial dimensions of the main body 100 and the rack 1073, and further reduce the overall volume of the heave compensation tooling 1, which is a more preferred technical solution.

[0072] In addition, in practice, the number of racks 1073 can be one or more, such as two racks 1073 , which are arranged in parallel, and each rack 1073 is meshed with two gears 1072 .

[0073] As mentioned above, the rack 1073 is disposed on the main body 100. In practice, there is no limitation on the connection method between the rack 1073 and the main body 100. For example, the rack 1073 can be fixed to the main body 100 by welding.

[0074] As mentioned above, the first driving unit 1071 is disposed on the moving block 101. Specifically, in this embodiment, Figure 5 As shown, the first driving unit 1071 has an annular connecting plate 1071a, the first driving unit 1071 is located outside the moving block 101, the connecting plate 1071a and the corresponding outer side wall of the moving block 101 are fixedly connected by connecting members, such as bolts, etc., and the output shaft of the first driving unit 1071 passes through the corresponding side wall of the moving block 101 and is connected to the gear 1072. At the same time, in order to improve the smoothness of the rotation of the output shaft, a rotating bearing can be installed inside the corresponding side wall of the moving block 101, and the output shaft passes through the rotating bearing and is connected to the gear 1072.

[0075] In practice, there is no limitation on the connection method between the connecting plate 1071a and the corresponding outer side wall of the moving block 101. For example, welding and fixing the connecting plate 1071a and the corresponding outer side wall of the moving block 101 is also feasible.

[0076] It can be understood that the corresponding side wall of the moving block 101 must be provided with a through hole for installing a rotating bearing and for the output shaft of the first driving unit 1071 to pass through. In practical applications, the inner diameter of the through hole can be larger than the diameter of the output shaft of the first driving unit 1071, so that when the output shaft of the first driving unit 1071 passes through the through hole, there is a gap between the inner wall of the through hole to prevent friction between the through hole and the output shaft of the first driving unit 1071 from hindering the normal rotation of the output shaft. In this case, it is also feasible not to provide a rotating bearing.

[0077] As mentioned above, the output shaft of the first drive unit 1071 and the gear 1072 are connected one-to-one, and the specific connection method is not limited. For example, the output shaft of the first drive unit 1071 and the gear 1072 can be welded, screwed or connected by a wedge key.

[0078] In this embodiment, the rack 1073 is arranged on the main body 100, and the first drive unit 1071 is arranged on the moving block 101. In practical applications, the rack 1073 is arranged on the moving block 101, and the first drive unit 1071 is arranged inside the main body 100. It is also feasible that the output shaft of the first drive unit 1071 passes from the inside to the outside and is connected with the gear 1072. Of course, the main body 100 has a larger axial space for installing the rack 1073, and it is more convenient to install the first drive unit 1071 on the moving block 101. Therefore, the arrangement of this embodiment is a more preferred technical solution.

[0079] In actual applications, the first driving part 107 is not limited to the combination of the above-mentioned gear rack transmission unit and the first driving unit 1071. For example, the first driving part 107 can also include a screw nut transmission unit and a first driving unit 1071. The screw nut transmission unit includes a screw and a nut mounted on the screw. The screw and the nut are threadedly connected. The screw can be rotatably installed on the main body 100. The extension direction of the screw is the axial direction of the main body 100. The nut is arranged on the moving block 101. The first driving unit 1071 can be a driving motor. The output shaft of the driving motor is connected to the screw. The output shaft of the driving motor can drive the screw to rotate. Under the cooperation of the threads of the screw and the nut, the nut moves along the extension direction of the screw, thereby realizing the axial sliding of the moving block 101 along the main body 100.

[0080] Furthermore, in this embodiment, the driving mechanism further includes a second driving unit 108, specifically:

[0081] like Figure 5As shown, the second driving part 108 includes a first connecting arm 1081 and a second connecting arm 1082, the first connecting arm 1081 and the second connecting arm 1082 are hinged through a hinge shaft 1083, the free end of the first connecting arm 1081 is hinged to the main body 100, and the free end of the second connecting arm 1082 is hinged to the moving block 101, the second driving part 108 also includes a second driving unit 1084, the second driving unit 1084 is hinged to the main body 100, the output shaft of the second driving unit 1084 is hinged to the hinge shaft 1083, the output shaft of the second driving unit 1084 can be extended or retracted, and drive the first connecting arm 1081 and the second connecting arm 1082 to rotate around the hinge shaft 1083 to adjust the angle between the first connecting arm 1081 and the second connecting arm 1082, and the second driving unit 1084 is electrically connected to the controller 105.

[0082] In this way, when it is necessary to control the moving block 101 to perform heaving and sinking movements, the controller 105 can control the output shaft of the second drive unit 1084 to extend or retract, wherein, when the output shaft of the second drive unit 1084 gradually extends, the first connecting arm 1081 and the second connecting arm 1082 rotate around the hinge shaft 1083 and approach each other, the angle between the first connecting arm 1081 and the second connecting arm 1082 gradually decreases, and the moving block 101 moves downward along the axial direction of the main body 100; when the output shaft of the second drive unit 1084 is gradually retracted, the first connecting arm 1081 and the second connecting arm 1082 rotate around the hinge shaft 1083 and move away from each other, the angle between the first connecting arm 1081 and the second connecting arm 1082 gradually increases, and the moving block 101 moves upward along the axial direction of the main body 100.

[0083] In this embodiment, the second driving unit 1084 is a hydraulic cylinder and also includes an accumulator 109, such as Figure 6 As shown, the accumulator 109 is disposed inside the main body 100 to provide a power source for the hydraulic cylinder. In practical applications, the second drive unit 1084 can also be a gas cylinder, an electric cylinder, etc.

[0084] Depend on Figure 6 It can be seen that in this embodiment, there are two second driving parts 108, and the two second driving parts 108 are arranged on the left and right sides of the main body 100. In this way, the two second driving parts 108 can be started at the same time, and the left and right sides of the moving block 101 are subjected to the same driving force, ensuring that the moving block 101 can stably slide along the axial direction of the main body 100; at the same time, the two second driving parts 108 have a redundant design feature, and the reliability is higher.

[0085] In practical applications, the number of the second driving units 108 is not limited, for example, the number of the second driving units 108 may be at least one.

[0086] Depend on Figure 1It can be seen that in the present embodiment, the left and right side walls of the main body 100 and the moving block 101 are both provided with two first connecting grooves a, the first connecting arm 1081 and the second connecting arm 1082 have the same structure, both include two long arm portions 108a, the free ends of the two long arm portions 108a are hinged to the corresponding first connecting grooves a through pin shafts, the width between the two long arm portions 108a gradually decreases along the end away from the main body 100 / moving block 101, the two long arm portions 108a are connected together by a plurality of connecting arm portions 108b, and the ends of the two long arm portions 108a away from the main body 100 / moving block 101 are rotatably connected to the hinge shaft 1083, thereby realizing the hinge of the first connecting arm 1081 and the second connecting arm 1082.

[0087] It can be seen that in this embodiment, the first connecting arm 1081 is connected to the main body 100 through two connecting points, and the second connecting arm 1082 is connected to the moving block 101 through two connecting points, and the connection stability is higher.

[0088] In practical applications, there is no limitation on the specific structure of the first connecting arm 1081 and the second connecting arm 1082, as long as the two are hinged to each other to achieve the connection between the main body 100 and the moving block 101. If the structural strength meets the requirements, the first connecting arm 1081 and the second connecting arm 1082 can also be a long rod-shaped structure.

[0089] like Figure 1 As shown, in this embodiment, two groups of connecting components 110 are arranged on the left and right side walls of the moving block 101, and the connecting components 110 specifically include two first ear plates 1101 arranged opposite to each other, and a first connecting groove a is formed between the two first ear plates 1101. Of course, in practical applications, the structure of the connecting component 110 is not limited, and it is also feasible that the connecting component 110 includes a connecting plate, and the free end of the long arm portion 108a is hinged to the connecting plate through a pin shaft.

[0090] like Figure 1 As shown, in this embodiment, the main body 100 is further processed with a second connecting groove b, and the second connecting groove b is located above the first connecting groove a, and the connecting end of the second driving unit 1084 is hinged inside the second connecting groove b through a pin shaft.

[0091] In practical applications, there is no limitation on the connection method between the second driving unit 1084 and the main body 100. For example, the main body 100 may also be provided with a connecting plate, and the second driving unit 1084 is hinged to the connecting plate through a pin shaft.

[0092] In addition, in this embodiment, the main body 100 specifically includes a base 1001 and a vertical beam 1002, the base 1001 is welded and fixed to the lower end of the vertical beam 1002, the width of the base 1001 is greater than the width of the vertical beam 1002, and the second drive unit 1084 and the first connecting arm 1081 are both hinged to the base 1001. In practical applications, it is also feasible to form the base 1001 and the vertical beam 1002 in one piece.

[0093] As can be seen from the foregoing, the heave compensation tool 1 of the present invention is provided with a first drive unit 107 and a second drive unit 108 for realizing the axial sliding of the moving block 101 along the main body 100. In practical applications, the heave compensation tool 1 can also be provided with only the first drive unit 107, or only the second drive unit 108. Of course, in this embodiment, the drive mechanism includes the first drive unit 107 and the second drive unit 108 at the same time. First, the heave compensation function is a dual-drive compensation mechanism with redundant design characteristics and high reliability; at the same time, the two drive units can provide a wider range of driving force. When the heave compensation tool 1 is connected to a heavier unit component, the two drive units can be started at the same time to provide a greater driving force to move the moving block 101 for heave compensation; when the heave compensation tool 1 is connected to a lighter unit component, the two drive units can be started one by one to move the moving block 101 for heave compensation, thereby reducing energy consumption. It can be seen that the heave compensation tool 1 of the present invention has a wider range of application.

[0094] Please continue to refer to Figure 1 As mentioned above, the moving block 101 is slidably installed on the main body 100. Specifically in this embodiment, the front and rear side walls of the main body 100 are provided with guide rails 100a, and the guide rails 100a extend along the axial direction of the main body 100. The guide rails 100a are provided with clamping grooves c on both sides in the width direction, and the clamping grooves c extend along the axial direction of the main body 100. Two clamping protrusions 101a are provided on the inner side of the corresponding side wall of the moving block 101. The clamping protrusions 101a are roughly L-shaped, and the free ends of the clamping protrusions 101a are slidably installed in the corresponding clamping grooves c.

[0095] In this way, the engaging protrusion 101a can slide along the extending direction of the engaging groove c, and the engaging protrusion 101a and the engaging groove c are mutually limited along the first direction and the second direction, and the first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other. Figure 1 Taking the viewing angle as an example, one of the first direction and the second direction is the front-to-back direction, and the other is the left-to-right direction.

[0096] In this way, the cooperation between the snap-in groove c and the snap-in protrusion 101a can guide the moving block 101, so that the moving block 101 can only slide along the extension direction of the snap-in groove c; at the same time, the snap-in groove c and the snap-in protrusion 101a limit each other along the first direction and the second direction, and the first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other, that is, in a plane perpendicular to the axial direction of the main body 100, the snap-in groove c and the snap-in protrusion 101a limit each other, ensuring that the moving block 101 does not move in other directions except the axial direction of the main body 100, thereby ensuring the positioning accuracy of the moving block 101.

[0097] In this embodiment, the front and rear side walls of the main body 100 are both provided with guide rails 100a, and the inner sides of the front and rear side walls of the moving block 101 are both provided with snap-on protrusions 101a. In practical applications, the number of guide rails 100a provided on the main body 100 is not limited, such as the number of guide rails 100a can be at least one, when the number of guide rails 100a is one, the guide rail 100a can be provided on the front side wall or the rear side wall of the main body 100, of course, if the left and right side walls of the main body 100 have enough space, it is also feasible to provide the guide rail 100a on the left side wall or the right side wall of the main body 100, and the moving block 101 can be provided with snap-on protrusions 101a on the side wall corresponding to the guide rail 100a.

[0098] In this embodiment, the guide rail 100a is provided with engaging grooves c on both sides in the width direction, and the moving block 101 is correspondingly provided with two engaging protrusions 101a. In practical applications, the number and shape of the engaging grooves c provided on the guide rail 100a are not limited. For example, the number of the engaging grooves c is one and is provided in the middle of the guide rail 100a. The engaging grooves c are roughly T-shaped, and the moving block 101 is correspondingly provided with one engaging protrusion 101a. The engaging protrusion 101a is also a matching T-shape, and the engaging protrusion 101a is slidably installed inside the engaging groove c. At this time, the cooperation between the engaging protrusion 101a and the engaging groove c can also play a role in limiting the moving block 101 in the first direction and the second direction.

[0099] In addition, in practical applications, it is also feasible to provide the guide rail 100 a with a snap-fit ​​protrusion 101 a and the corresponding side wall of the moving block 101 with a snap-fit ​​groove c.

[0100] Depend on Figure 1 It can be seen that in this embodiment, the main body 100 is a columnar structure, the moving block 101 is an annular structure, and the moving block 101 is sleeved on the outer periphery of the main body 100. In practical applications, the specific structures of the moving block 101 and the main body 100 are not limited. For example, if the main body 100 is a frame structure, the moving block 101 is arranged inside the main body 100 and can slide along the axial direction of the main body 100.

[0101] It can be understood that when the heave compensation tool 1 of the present invention is applied to the offshore installation and operation and maintenance of a floating wind turbine, the heave compensation tool 1 needs to hoist different unit components, such as a tower, a nacelle, a hub, blades or a nacelle-hub assembly. The lifting points of different unit components are at different positions. If the second hoisting portion 103 is fixed to the moving block 101, when hoisting different unit components, it is necessary to move the position of the moving block 511 as a whole by adjusting the position of the hook, which is inconvenient to operate.

[0102] Based on this, the heave compensation tool 1 of the present invention further includes an adjustment mechanism 111, such as Figure 1-Figure 6 As shown, the adjustment mechanism 111 is connected between the moving block 101 and the second hanging part 103, and the adjustment mechanism 111 can drive the second hanging part 103 to move along the first direction and the second direction. The first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other.

[0103] Since the second hoisting portion 103 is arranged on the moving block 101, and the moving block 101 can move along the axial direction of the main body 100, the second hoisting portion 103 is firstly adjustable along the axial direction of the main body 100; at the same time, the setting of the above-mentioned adjustment mechanism 111 makes the second hoisting portion 103 adjustable along the first direction and the second direction, and the first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other. Therefore, the hoisting position of the second hoisting portion 103 can actually be adjusted to any desired position, which is suitable for dynamic hoisting of different unit components, so that the heave compensation tooling 1 of the present invention has strong versatility.

[0104] Specifically, Figure 1 and Figure 4 As shown, the adjustment mechanism 111 includes a first screw-nut transmission unit and a third drive unit 1111. The first screw-nut transmission unit includes a first screw 1112 and a first nut 1113 that are threadedly connected. The first screw 1112 extends along a first direction. The first screw 1112 is rotatably mounted on the moving block 101. The output shaft of the third drive unit 1111 is connected to the first screw 1112 for driving the first screw 1112 to rotate.

[0105] The adjusting mechanism 111 also includes an adjusting arm 1114 and a fourth driving unit 1115. The adjusting arm 1114 and the first nut 1113 are connected as a whole. The fourth driving unit 1115 is arranged on the lower side wall of the adjusting arm 1114. The output shaft of the fourth driving unit 1115 can be extended or retracted along the second direction. The output shaft of the fourth driving unit 1115 is connected to the second lifting part 103. The third driving unit 1111 and the fourth driving unit 1115 are both electrically connected to the controller 105.

[0106] The third driving unit 1111 may be a driving motor, and the fourth driving unit 1115 may be a power mechanism such as a cylinder, a hydraulic cylinder, or an electric cylinder that can generate linear displacement.

[0107] When the heave compensation tool 1 of the present invention hoists different unit components, the third drive unit 1111 and the fourth drive unit 1115 can be controlled by the controller 105 to act. Specifically, the controller 105 controls the output shaft of the third drive unit 1111 to rotate, and the output shaft of the third drive unit 1111 can drive the first screw rod 1112 to rotate synchronously. Under the thread cooperation of the first screw rod 1112 and the first nut 1113, the first nut 1113 can move along the axial direction of the first screw rod 1112, that is, the first nut 1113 can move along the first direction. Since the adjustment arm 1114 and the first nut 1113 are connected as a whole, the adjustment arm 1114 can also move along the first direction, and the second hoisting part 10 The fourth driving unit 1115 is connected to the adjusting arm 1114, thereby realizing the adjustment of the lifting point position of the second lifting part 103 along the first direction; the output shaft of the fourth driving unit 1115 extends along the second direction, and the controller 105 controls the output shaft of the fourth driving unit 1115 to extend or retract, thereby realizing the adjustment of the lifting point position of the second lifting part 103 along the second direction, thereby realizing the adjustable lifting point position of the second lifting part 103 in the horizontal direction, so that the lifting point position of the second lifting part 103 can correspond to the lifting point on the lifting fixture of different unit components, which is convenient for connecting the second lifting part 103 with the lifting fixture of different unit components, and is suitable for dynamic lifting of different unit components, thereby ensuring that the heave compensation tooling of the present invention has strong versatility.

[0108] Depend on Figure 1-Figure 6 It can be seen that in this embodiment, the second lifting part 103 has four hanging seats 1031, each hanging seat 1031 has a hanging point, and two hanging seats 1031 are set as a group on the front and rear side walls of the moving block 101. The number of the adjustment mechanism 111 is also four, and the hanging seats 1031 are connected to the moving block 101 through the adjustment mechanism 111 one by one.

[0109] In this way, the second lifting part 103 can be connected to the lifting equipment of different unit components through four lifting points. Of course, in practical applications, there is no limit to the number of hanging seats 1031 or hanging points, as long as the lifting stability of the unit components can be guaranteed. For example, the number of hanging seats 1031 can also be three.

[0110] At the same time, each adjusting mechanism 111 can adjust the horizontal position of a suspension seat 1031. When the distance between two lifting points on the same side of the slings of different unit components is different, in the two adjusting mechanisms 111 on the same side, the two third driving units 1111 can rotate in opposite directions, so that the two adjusting arms 1114 are close to or away from each other, so as to adjust the distance between the two suspension seats 1031 on the same side, and ensure that the positions of the suspension points and the lifting points can correspond one to one; when the distance between two lifting points on different sides of the slings of different unit components is different, in the corresponding two adjusting mechanisms 111, the output shafts of the two fourth driving units 1115 can be extended or retracted at the same time, so that the two suspension seats 1031 on different sides are close to or away from each other, so as to adjust the distance between the two suspension seats 1031 on different sides.

[0111] In practical applications, the two adjustment mechanisms 111 on the same side can also share the same third drive unit 1111 and the same first screw rod 1112. Specifically, the peripheral wall of the first screw rod 1112 is provided with external threads, and the rotation directions of the external threads at both ends of the first screw rod 1112 are opposite. The first screw nuts 1113 in the two adjustment mechanisms 111 are mounted on both ends of the first screw rod 1112, and the output shaft of the third drive unit 1111 is connected to the first screw rod 1112. In this way, the output shaft of the third drive unit 1111 can drive the first screw rod 1112 to rotate synchronously. Since the rotation directions of the external threads at both ends of the first screw rod 1112 are opposite, under the thread cooperation of the first screw rod 1112 and the two first screw nuts 1113, the two first screw nuts 1113 can move in the direction of approaching or moving away from each other, thereby adjusting the distance between the two suspension seats 1031 on the same side.

[0112] In addition, in actual applications, the position switching of the adjusting arm 1114 along the first direction is not limited to the combination of the above-mentioned first screw-nut transmission unit and the driving motor. For example, the output shaft of the third driving unit 111 can be directly connected to the adjusting arm 1114, and the third driving unit 111 is a power mechanism such as a cylinder, a hydraulic cylinder, or an electric cylinder that can generate linear displacement.

[0113] Please continue to refer to Figure 1In this embodiment, the adjusting arm 1114 includes a first adjusting arm 1114a and a second adjusting arm 1114b which are arranged at an angle, the first adjusting arm 1114a extends along the second direction, and the second adjusting arm 1114b extends upwardly obliquely in a direction away from the first adjusting arm 1114a, the adjusting mechanism 111 includes two first screw-nut transmission units, the two first screw-nut transmission units are arranged up and down, the free end of the first adjusting arm 1114a is connected to the first nut 1113 in the first screw-nut transmission unit located at the lower end, the free end of the second adjusting arm 1114b is connected to the first nut 1113 in the first screw-nut transmission unit located at the upper end, the adjusting mechanism 111 also includes two third driving units 1111, and the third driving units 1111 are connected to the first screw 1112 in the first screw-nut transmission unit one by one.

[0114] Thus, when working, the controller 105 can control the two third driving units 1111 to act synchronously, so as to realize the position adjustment of the adjusting arm 1114 along the first direction, with the specific redundant design feature and strong reliability. At the same time, among the adjusting arms 1114, the first adjusting arm 1114a plays the main bearing role, and the second adjusting arm 1114b can play a reinforcing role, thereby improving the structural strength of the adjusting arm 1114, improving the hoisting stability of the unit components, and thus improving the reliability of the heave compensation tooling 1 of the present invention.

[0115] In practical applications, the specific structure of the adjustment arm 1114 is not limited. For example, it is feasible to only provide the first adjustment arm 1114a under the premise of ensuring the structural strength of the first adjustment arm 1114a.

[0116] Furthermore, if Figure 1 As shown, the lower side wall of the first adjustment arm 1114a is provided with a T-shaped guide groove d, the guide groove d extends along the second direction, the connecting end of the suspension seat 1031 is roughly T-shaped or I-shaped, and the connecting end of the suspension seat 1031 is slidably installed inside the guide groove d. In this way, the guide groove d can play a guiding role for the suspension seat 1031, so that the suspension seat 1031 can only slide along the extending direction of the guide groove d under the action of the fourth driving unit 1115, thereby ensuring the position accuracy of the suspension seat 1031. In practice, the fourth driving unit 1115 can also be arranged inside the guide groove d.

[0117] Among them, Figure 4 and Figure 5As shown, the hanger 1031 specifically includes a slider 1031a located inside the guide groove, the slider 1031a is roughly T-shaped or I-shaped, the slider 1031a forms the aforementioned connection end, the bottom wall of the slider 1031a is connected to two oppositely arranged second ear plates 1031b, the lifting ring 1031c is hinged between the two second ear plates 1031b through a pin shaft, the lifting ring 1031c is connected to a shackle 1031d, and the shackle 1031d is used to connect to the lifting device of the unit component to be installed through the sling 106.

[0118] As mentioned above, the first screw rod 1112 is rotatably mounted on the moving block 101. Specifically in this embodiment, the side wall of the moving block 101 is connected to two oppositely arranged third ear plates 112, and the two third ear plates 112 are arranged along the first direction. The two third ear plates 112 are correspondingly provided with mounting holes, and bearings are installed inside the mounting holes. The first screw rod 1112 is installed on the moving block 101 through bearings at both ends to ensure the smooth rotation of the first screw rod 1112.

[0119] It can be understood that when the heave compensation tool 1 of the present invention is used for docking installation of the unit component 2 to be installed and the installed unit component 4, it is necessary to ensure that the reference lines on the flanges of the unit components can be aligned with each other. Therefore, the heave compensation tool 1 of the present invention also includes a rotating mechanism 113, such as Figure 1 As shown, the rotating mechanism 113 is connected between the main body 100 and the first hoisting part 102. The rotating mechanism 113 can drive the main body 100 and the moving block 101 to rotate relative to the first hoisting part 102, thereby rotating the unit component 2 to be installed connected to the moving block 101, thereby ensuring that the base line of the unit component 2 to be installed is aligned with the installed unit component 4 when docking and the direction is accurate.

[0120] Among them, the rotating mechanism 113 specifically includes a connecting bearing 1131, the lower end of the outer ring of the connecting bearing 1131 is connected to the main body 100, the upper end of the outer ring of the connecting bearing 1131 is circumferentially provided with an engaging tooth portion 1131a, the inner ring of the connecting bearing 1131 is connected to the first lifting portion 102, the rotating mechanism 113 also includes a fifth driving unit and a driving tooth portion 1132, the driving tooth portion 1132 and the engaging tooth portion 1131a are meshed with each other, the fifth driving unit and the driving tooth portion 1131a are transmission-connected, the fifth driving unit is used to drive the driving tooth portion 1132 to rotate, and the fifth driving unit is electrically connected to the controller 105.

[0121] In this way, when working, the fifth driving unit can first drive the driving tooth portion 1132 to rotate. Under the meshing action of the driving tooth portion 1132 and the meshing tooth portion 1131a, the driving tooth portion 1132 drives the outer ring of the connecting bearing 1131 to rotate. Since the lower end of the outer ring of the connecting bearing 1131 is connected to the main body 100, the main body 100 and the moving block 101 can rotate synchronously with the outer ring of the connecting bearing 1131, thereby driving the to-be-installed unit component 2 to rotate, thereby ensuring that the base lines of the to-be-installed unit component 2 and the installed unit component 4 can be aligned with each other when docking.

[0122] In this embodiment, the driving tooth portion 1132 is a worm, and the fifth driving unit includes a power component 1133, and a first bevel gear 1134 and a second bevel gear 1135 that are meshed with each other. The output shaft of the power component 1133 is connected to the first bevel gear 1134, and the power component 1133 is used to drive the first bevel gear 1134 to rotate, and the worm and the second bevel gear 1135 are connected.

[0123] The power component 1133 may be a driving motor. In this way, when working, the output shaft of the driving motor rotates to drive the first bevel gear 1134 to rotate synchronously. Under the meshing action of the first bevel gear 1134 and the second bevel gear 1135, the first bevel gear 1134 drives the second bevel gear 1135 to rotate synchronously. Since the worm is connected to the second bevel gear 1135, the second bevel gear 1135 can drive the worm to rotate synchronously, and then the outer ring of the connecting bearing 1131 is rotated under the meshing action of the worm and the outer ring of the connecting bearing 1131.

[0124] It can be seen that in this embodiment, the first bevel gear 1134 and the second bevel gear 1135 mainly play the role of transmission and changing the transmission direction, so that the power component 1133 and the worm can be arranged on the adjacent two sides of the main body 100. Of course, in practical applications, if one side of the main body 100 has sufficient installation space, it is also feasible not to set the first bevel gear 1134 and the second bevel gear 1135, and the output shaft of the power component 1133 can be directly connected to the worm.

[0125] In this embodiment, the driving gear portion 1132 is a worm. In practice, the driving gear portion 1132 can also be a driving gear, and the driving gear and the outer ring of the connecting bearing 1131 are driven by gear meshing, and the output shaft of the power component 1133 is directly connected to the driving gear. In this way, the output shaft of the power component 1133 can drive the driving gear to rotate, and the outer ring of the connecting bearing 1131 can rotate under the meshing action of the driving gear and the outer ring of the connecting bearing 1131.

[0126] Depend on Figure 1It can be seen that in this embodiment, the surrounding wall of the first lifting part 102 is connected to two mounting plates 114, the number of the fifth driving unit and the driving tooth part 1132 are both two, the fifth driving unit and the driving tooth part 1132 are connected one by one to form a driving part, and the driving part is connected to the lower side wall of the corresponding mounting plate 114.

[0127] Of course, in practical applications, the number of driving parts is not limited, such as the number of driving parts can be at least one. The mounting plate 114 mainly serves to connect the driving parts, so the number of mounting plates 114 can be consistent with the number of driving parts. The connection method between the first hanging part 102 and the mounting plate 114 is not limited, such as the first hanging part 102 and the mounting plate 114 can be fixed by welding.

[0128] As mentioned above, the driving part is connected to the lower side wall of the corresponding mounting plate 114, specifically, as Figure 6 As shown, the lower side wall of the mounting plate 114 is connected to two oppositely arranged fourth ear plates 115, and a rotating bearing is installed inside the fourth ear plate 115. The driving tooth portion 1132 is installed on the two fourth ear plates 115 through the connecting bearing, thereby ensuring the smooth rotation of the driving tooth portion 1132; the power component 1133 is fixed to the lower surface of the mounting plate 114 through its fixing seat, and the extension direction of the output shaft of the power component 1133 is perpendicular to the extension direction of the driving tooth portion 1132. The lower side wall of the mounting plate 114 is connected to the fifth ear plate 116, and a rotating bearing is installed inside the fifth ear plate 116. The output shaft of the power component 1133 passes through the inside of the rotating bearing, thereby ensuring the smooth rotation of the output shaft of the power component 1133.

[0129] As mentioned above, the lower end of the outer ring of the connecting bearing 1131 is connected to the main body 100, and the specific connection method is not limited. For example, the lower end of the outer ring of the connecting bearing 1131 and the main body 100 can be welded and fixed.

[0130] As mentioned above, the inner ring of the connecting bearing 1131 and the first lifting part 102 are connected, and the specific connection method is not limited. For example, the inner ring of the connecting bearing 1131 and the first lifting part 102 can be fixed by bolts, welding, etc.

[0131] Please continue to refer to Figure 1 In this embodiment, the first hoisting part 102 specifically includes a hoisting beam 1021, and a hoisting seat 1022 is connected to the top of the hoisting beam 1021. The hoisting seat 1022 connects the entire heave compensation tooling 1 to the hook 51 of the self-elevating platform installation vessel 5 through a sling 106.

[0132] It can be understood that in actual work, the heave compensation tool 1 will inevitably be subjected to forces such as wind loads at high altitudes. In order to ensure that the heave compensation tool 1 and the unit component 2 to be installed are stable at high altitudes and prevent the heave compensation tool 1 and the unit component 2 to be installed from deflecting or shaking due to wind loads, the heave compensation tool 1 of the present invention further includes a self-stabilizing mechanism 117, such as Figure 6 As shown, the self-stabilizing mechanism 117 includes a telescopic unit 1171, a connecting rope 1172 and a tension sensor 1173. The telescopic unit 1171 is arranged on the main body 100. The telescopic unit 1171 and the connecting rope 1172 are connected to each other. The end of the connecting rope 1172 away from the telescopic unit 1171 is used to connect with the boom 52 of the crane. The telescopic direction of the telescopic unit 1171 and the axial direction of the main body 100 have an angle. The tension sensor 1173 is arranged on the connecting rope 1172. The telescopic unit 1171 is electrically connected to the controller 105. The controller 105 is used to control the telescopic unit 1171 to retract so that the tension of the connecting rope 1172 is constant.

[0133] In this way, when the heave compensation tool 1 lifts the unit component 2 to be installed and is in a stable state at high altitude, the tension sensor 1173 detects that the connecting rope 1172 has a preset tension. When the heave compensation tool 1 encounters wind load and deflects, the detection value of the tension sensor 1173 will change, and the detection result will be fed back to the controller 105. The controller 105 will send an action command signal to the telescopic unit 1171 to control the telescopic unit 1171 to perform a telescopic action so that the tension of the connecting rope 1172 returns to the preset tension in the stable state. When the controller 105 receives the detection result of the tension sensor 1173 that returns to the preset tension, the controller 105 will send a command signal to stop the telescopic unit 1171, thereby ensuring that the heave compensation tool 1 is always in a stable state when lifting the unit component 2 to be installed at high altitude.

[0134] Further, the telescopic unit 1171 specifically includes a driving assembly and an X-shaped telescopic frame 1171a, the driving assembly includes a sixth driving unit 1171b and a second screw-nut transmission unit, the second screw-nut transmission unit includes a second screw 1171c and a second screw nut 1171d that are threadedly connected, the second screw 1171c is rotatably mounted on the main body 100, the output shaft of the sixth driving unit 1171b is connected to the second screw 1171c, and is used to drive the second screw 1171c to rotate, and the sixth driving unit 1171b is electrically connected to the controller 105,

[0135] One end of the X-shaped telescopic frame 1171a away from the connecting rope 1172 has two connecting ends, one of which is hinged to the main body 100, and the other is connected to the second nut 1171d.

[0136] The sixth drive unit 1171b may be a drive motor. When in operation, when the sixth drive unit 1171b receives an extension instruction from the controller 105, the sixth drive unit 1171b can drive the second screw rod 1171c to rotate, and under the thread cooperation of the second screw rod 1171c and the second nut 1171d, the second nut 1171d moves along the axial direction of the second screw rod 1171c, and the two telescopic arms in the X-shaped telescopic frame 1171a approach each other around the hinge, and the angle between the two telescopic arms gradually decreases, and the X-shaped telescopic frame 1171a gradually extends; When the sixth drive unit 1171b receives the contraction command from the controller 105, the sixth drive unit 1171b can drive the second screw rod 1171c to rotate in the opposite direction. Under the cooperation of the threads of the second screw rod 1171c and the second nut 1171d, the second nut 1171d moves in the opposite direction along the axial direction of the second screw rod 1171c, and the two telescopic arms in the X-shaped telescopic frame 1171a move away from each other around the hinge, and the angle between the two telescopic arms gradually increases, and the X-shaped telescopic frame 1171a gradually contracts.

[0137] As mentioned above, the second screw rod 1171c is rotatably mounted on the main body 100. Specifically, the main body 100 is connected to two relatively arranged sixth ear plates 118, and an inner bearing is installed inside the sixth ear plate 118. The second screw rod 1171c is connected to the sixth ear plate 118 through the inner bearings at both ends to ensure the smooth rotation of the second screw rod 1171c.

[0138] As mentioned above, one of the connection ends of the X-shaped telescopic frame 1171a is hinged to the main body 100. Specifically in this embodiment, a connecting block 119 is fixed to the side wall of the main body 100. The specific fixing method is not limited. For example, the connecting block 119 and the main body 100 can be fixed by welding. The end wall of the connecting block 119 facing away from the main body 100 is connected to two oppositely arranged ear plates, and one of the connection ends of the X-shaped telescopic frame 1171a is hinged between the two ear plates through a pin shaft.

[0139] In practical applications, there is no limit to the number of self-stabilizing mechanisms 117, for example, there may be at least one self-stabilizing mechanism 117. In this embodiment, the heave compensation tool 1 is provided with two self-stabilizing mechanisms 117, providing two connection points between the main body 100 and the boom 52 of the crane, further improving the attitude stability of the heave compensation tool 1 at high altitudes.

[0140] In this embodiment, the telescopic unit 1171 is in the form of a driving assembly and an X-shaped telescopic frame 1171a. In actual applications, the telescopic unit 1171 can also be a cylinder / hydraulic cylinder, and the push rod of the cylinder / hydraulic cylinder is directly connected to the connecting rope 1172.

[0141] As mentioned above, the telescopic direction of the telescopic unit 1171 and the axial direction of the main body 100 have an angle. In this embodiment, the telescopic direction of the telescopic unit 1171 and the axial direction of the main body 100 are perpendicular to each other. It can be understood that in practice, it is also feasible that the telescopic direction of the telescopic unit 1171 and the axial direction of the main body 100 are not perpendicular, as long as the tension of the connecting rope 1172 can be kept constant by the telescopic unit 1171.

[0142] In addition, by Figure 1 It can be seen that, in this embodiment, the heave compensation tool 1 is further provided with a power supply unit 120 , which is arranged at the upper end of the main body 100 and is used to provide power for the entire heave compensation tool 1 .

[0143] In practical applications, there is no restriction on the arrangement position of the power supply unit 100 , and the power supply unit 100 may specifically be a diesel generator or the like.

[0144] The present invention further provides a heave compensation system, the heave compensation system comprising the above-mentioned heave compensation tooling 1, wherein:

[0145] In the heave compensation tooling 1, the first hoisting part 102 is connected to the lifting device, and the second hoisting part 103 is connected to the unit component 2 to be installed;

[0146] It also includes a second sensor 6, which is used to detect the heave state of the installed unit component 4, and the second sensor 6 is electrically connected to the controller 105.

[0147] The heave compensation system of the present invention includes the aforementioned heave compensation tooling 1, and thus has the same technical effects as the aforementioned heave compensation tooling 1, which will not be described in detail herein.

[0148] When the heave compensation system of the present invention is used for offshore installation of a jack-up platform and operation and maintenance of a floating wind turbine, the lifting device is a hook 51 of a jack-up platform installation vessel 5 , and the second sensor 6 can be disposed on the floating foundation 3 .

[0149] The present invention also provides a heave compensation method, based on the above heave compensation system, comprising the following steps:

[0150] The heave state of the installed unit component 4 is detected, and the moving block 101 is controlled to perform heave compensation so that the installed unit component 4 and the moving block 101 have the same heave displacement.

[0151] The heave compensation method of the present invention is based on the aforementioned heave compensation system, and therefore has the same technical effects as the aforementioned heave compensation system, which will not be described in detail herein.

[0152] It can be understood that the heave compensation method is not only applicable to the docking of unit components, but also to the replacement of unit components, ensuring that the hoisted unit components and the unit components connected to the floating foundation 3 always remain relatively still, the lifting force of the crane always remains unchanged, and loosening or tightening the connecting bolts is more effective and safer.

[0153] Further, as mentioned above, the heave compensation tool 1 further includes an adjustment mechanism 111, which is connected between the moving block 101 and the second hoisting portion 103. The adjustment mechanism 111 can drive the hoisting position of the second hoisting portion 103 to move along the first direction and the second direction. The first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other. Therefore, before hoisting the unit component 2 to be installed, the heave compensation method further includes the following steps:

[0154] The control adjustment mechanism 111 is activated, and the hoisting position of the second hoisting portion 103 is driven to move along the first direction and the second direction, so that the hoisting position of the second hoisting portion 103 corresponds to the hoisting point position on the hoisting device for installing the unit component 2.

[0155] In this way, it is suitable for dynamic lifting of different unit components, thereby improving the versatility of the heave compensation tooling and the heave compensation system of the present invention.

[0156] Further, as mentioned above, the heave compensation tool 1 further includes a rotating mechanism 113, which is connected between the main body 100 and the first hoisting part 102, and the rotating mechanism 113 can drive the main body 100 to rotate relative to the first hoisting part 102. The heave compensation method further includes the following steps:

[0157] The rotating mechanism 113 is controlled to operate and the main body 100 is driven to rotate relative to the first hoisting portion 102 so that the flange reference line of the unit component 2 to be installed can be aligned with the flange reference line of the installed unit component 3.

[0158] Further, as mentioned above, in the heave compensation system, the heave compensation tool 1 also includes a self-stabilizing mechanism 117, the self-stabilizing mechanism 117 includes a telescopic unit 1171, a connecting rope 1172 and a tension sensor 1173, the telescopic unit 1171 is arranged on the main body 100, the telescopic unit 1171 and the connecting rope 1172 are connected to each other, the telescopic direction of the telescopic unit 1171 and the axial direction of the main body 100 have an angle, the tension sensor 1173 is arranged on the connecting rope 1172, the telescopic unit 1171 and the tension sensor 1173 are both electrically connected to the controller 105, the controller 105 is used to control the telescopic unit 1171 to extend and retract, so that the tension of the connecting rope 1172 is constant, and the heave compensation method also includes the following steps:

[0159] The tension of the connecting rope 1172 is detected. When the tension of the connecting rope 1172 deviates from the preset tension, the telescopic unit 1171 is controlled to be telescopic. When the tension of the connecting rope 1172 returns to the preset tension, the telescopic unit 1171 is controlled to stop moving.

[0160] Among them, the preset tension is the tension of the connecting rope 1172 when the lifting unit components of the heave compensation tooling 1 are in a stable state at high altitude.

[0161] As configured above, the connecting rope 1172 is adjusted by the telescopic unit 1171 to always have a preset tension, which can ensure that the lifting unit components of the heave compensation tooling 1 are always in a stable state at high altitudes.

[0162] The above is a detailed introduction to a heave compensation tool, a heave compensation system and a heave compensation method provided by the present invention. The principle and implementation method of the present invention are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, the present invention can also be improved and modified without departing from the principle of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A heave compensation tool, It is characterized in that include: Main body; A moving block is slidably mounted on the main body; A driving mechanism, used for driving the moving block to slide along the axial direction of the main body; A first sensor, disposed on the moving block, for detecting a heave state of the moving block; The main body is provided with a first hoisting part, the moving block is provided with a second hoisting part, the driving mechanism and the first sensor are electrically connected to the controller, and the controller is used to control the action of the driving mechanism so that the moving block has a preset heave displacement.

2. The heave compensation tooling according to claim 1, It is characterized in that The heave compensation fixture also includes an adjustment mechanism, which is connected between the moving block and the second hoisting part, and the adjustment mechanism can drive the second hoisting part to move along a first direction and a second direction, and the first direction, the second direction and the axial direction of the main body are perpendicular to each other.

3. The heave compensation tooling according to claim 1 or 2, It is characterized in that The heave compensation tool further includes a rotating mechanism, which is connected between the main body and the first hoisting part, and can drive the main body to rotate relative to the first hoisting part.

4. The heave compensation tooling according to claim 1 or 2, It is characterized in that The heave compensation tool further includes a self-stabilizing mechanism, which is used to connect the main body and the boom of the lifting device and adjust the tension between the main body and the boom to stabilize the posture of the heave compensation tool.

5. The heave compensation tooling according to claim 4, It is characterized in that The self-stabilizing mechanism includes a telescopic unit, a connecting rope and a tension sensor, the telescopic unit is arranged on the main body, the telescopic unit and the connecting rope are connected to each other, the end of the connecting rope away from the telescopic unit is used to connect the boom, the telescopic direction of the telescopic unit and the axial direction of the main body have an angle, the tension sensor is arranged on the connecting rope, the telescopic unit and the tension sensor are both electrically connected to the controller, and the controller is used to control the telescopic unit to extend and retract so that the tension of the connecting rope is constant.

6. A heave compensation system, It is characterized in that comprising the heave compensation tooling as claimed in any one of claims 1 to 5, Wherein, the first hoisting part of the heave compensation tooling is connected to the lifting device, and the second hoisting part is connected to the unit component to be installed; It also includes a second sensor, which is used to detect the heave state of the installed unit components, and the second sensor is electrically connected to the controller.

7. A heave compensation method, based on the heave compensation system according to claim 6, It is characterized in that The steps include: The heave state of the installed unit component is detected, and the moving block is controlled to perform heave compensation so that the installed unit component and the moving block have the same heave displacement.

8. The heave compensation method according to claim 7, It is characterized in that Before hoisting the unit components to be installed, the heave compensation method further includes the following steps: The regulating mechanism is controlled to move, and the second hoisting part is driven to move along the first direction and the second direction, so that the hoisting position of the second hoisting part corresponds to the hoisting point position on the hoisting device for installing the unit component.

9. The heave compensation method according to claim 7, It is characterized in that The following steps are also included: The rotation mechanism is controlled to move, and the main body is driven to rotate relative to the first hoisting part, so that the flange reference line of the unit component to be installed can be aligned with the flange reference line of the installed unit component.

10. The heave compensation method according to claim 7, It is characterized in that The following steps are also included: The tension of the connecting rope is detected. When the tension of the connecting rope deviates from the preset tension, the telescopic unit is controlled to be telescopic. When the tension of the connecting rope returns to the preset tension, the telescopic unit is controlled to stop moving.

Images