Static-to-dynamic assembling and disassembling tool, static-to-dynamic butt joint method and static-to-dynamic disassembling method

Abstract

The static-to-dynamic loading and unloading tool comprises a buffer unit and a heave compensation unit, the buffer unit comprises a bearing mechanism, a rotating mechanism, a lifting mechanism and a climbing mechanism, the rotating mechanism comprises a first transmission part and a second transmission part, the lifting mechanism is connected with the first transmission part and the bearing mechanism, and the climbing mechanism is connected with the bearing mechanism. The climbing mechanism is connected with the second transmission part, and the bearing mechanism, the static part and the dynamic part are each provided with a centering part. During working, the buffer unit is slidably mounted on the dynamic component, the climbing mechanism drives the buffer unit to climb, the swing mechanism drives the bearing mechanism to rotate, the bearing mechanism and the dynamic component are centered, the lifting mechanism drives the bearing mechanism to ascend, the bearing mechanism and the static component are centered, and the lifting mechanism drives the bearing mechanism and the static component to descend. And the heave compensation unit carries out heave compensation, so that the static component and the bearing mechanism are relatively static, and offshore installation, operation and maintenance of the floating type unit are safely achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power, and in particular to a static-to-dynamic loading and unloading tool, a static-to-dynamic docking method and a static-to-dynamic disassembly method. Background Art

[0002] At present, the construction process of floating units 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 solution for replacing large components of floating units is to tow the entire buoy and wind turbine to the dock for large component replacement, which makes the maintenance cost of the floating unit very high.

[0003] It can be expected that in the future, the installation and operation of large-capacity floating units at offshore locations will be the mainstream method. However, the installation and operation of offshore locations will face a static-to-dynamic installation condition when using a self-elevating platform. For example, the upper tower is hoisted by a crane and docked with the lower tower installed on the floating foundation. At this time, the bolts have not been inserted. Due to the shaking of the floating foundation, the lifting force of the crane will continue to change. The docking surfaces between the unit components sometimes have gaps and sometimes have no gaps. 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 flanges of unit components.

[0004] Therefore, how to provide a static-to-dynamic loading and unloading tooling, a static-to-dynamic docking method and a static-to-dynamic disassembly method that can safely realize the installation and operation and maintenance of large-capacity floating units at offshore machine 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 static-to-dynamic loading and unloading tool, a static-to-dynamic docking method and a static-to-dynamic disassembly method, which can safely realize the installation and operation and maintenance of large-capacity floating units at offshore machine sites and solve the problem of static-to-dynamic docking.

[0006] In order to solve the above technical problems, the present invention provides a static-to-dynamic loading and unloading tool, which is used for the docking installation or disassembly of static components and dynamic components. The static component is hoisted above the dynamic component by a lifting device. The static-to-dynamic loading and unloading tool includes a heave compensation unit and a buffer unit. The buffer unit includes a bearing mechanism, a slewing mechanism, a lifting mechanism and a climbing mechanism. The slewing mechanism includes a first transmission part and a second transmission part that can rotate relative to each other. The lower end of the lifting mechanism is connected to the first transmission part, and the upper end of the lifting mechanism is connected to the bearing mechanism. The climbing mechanism is connected to the second transmission part. The bearing mechanism, the static component and the dynamic component are all provided with a centering component.

[0007] Optionally, the heave compensation unit comprises a main body, a moving block slidably mounted on the main body, and a driving mechanism, wherein the driving mechanism is used to drive the moving block to slide along the axial direction of the main body, the main body is provided with a first hoisting part, and the moving block is provided with a second hoisting part.

[0008] It also includes a first sensor and a controller. The first sensor is arranged on the moving block and is used to detect the heave state of the moving block. The driving mechanism and the first sensor are electrically connected to the controller. The controller is used to control the action of the driving mechanism so that the moving block has a preset heave displacement.

[0009] Optionally, the heave compensation unit further comprises 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.

[0010] Optionally, the heave compensation unit 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, the telescopic unit and the connecting rope are connected to each other, 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.

[0011] The present invention provides a static-to-dynamic docking method, based on the above-mentioned static-to-dynamic loading and unloading tooling, comprising the following steps:

[0012] The heave compensation unit is connected between the lifting device and the static component, and the buffer unit is slidably mounted on the periphery of the dynamic component;

[0013] The climbing mechanism climbs along the axial direction of the dynamic component until the buffer unit moves to the top flange of the dynamic component;

[0014] The slewing mechanism drives the supporting mechanism to rotate so that the supporting mechanism and the dynamic component are aligned, and the lifting mechanism drives the supporting mechanism to rise until the supporting mechanism supports the static component and the supporting mechanism and the static component are aligned and connected;

[0015] The heave compensation unit performs heave compensation on the static component according to the heave state of the bearing mechanism, so that the static component and the bearing mechanism are relatively stationary, and the lifting mechanism drives the bearing mechanism and the static component to descend synchronously until the flanges of the static component and the dynamic component are butt-jointed and installed together.

[0016] Optionally, the heave compensation unit performs heave compensation on the static component according to the heave state of the bearing mechanism so that the static component and the bearing mechanism are relatively stationary, which specifically includes the following steps:

[0017] The heave state of the bearing mechanism is detected, and the moving block is controlled to perform heave compensation, so that the bearing mechanism and the moving block have the same heave displacement.

[0018] Optionally, the method further includes the following steps:

[0019] The rotation mechanism is controlled to move, and the main body is driven to rotate relative to the first hanging part, so that the static component can be aligned with the bearing mechanism.

[0020] Optionally, the method further includes the following steps:

[0021] 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.

[0022] The present invention also provides a static-to-dynamic disassembly method, based on the above-mentioned static-to-dynamic loading and unloading tool, comprising the following steps:

[0023] The heave compensation unit is connected between the lifting device and the static component, and the buffer unit is slidably mounted on the periphery of the dynamic component;

[0024] The climbing mechanism climbs along the axial direction of the dynamic component until the buffer unit moves to the top flange of the dynamic component;

[0025] The lifting mechanism drives the bearing mechanism to rise until the bearing mechanism supports the static component and the bearing mechanism and the static component are connected in a center, and the connecting bolts between the dynamic component and the static component are removed;

[0026] The heave compensation unit performs heave compensation on the static component according to the heave state of the bearing mechanism, so that the static component and the bearing mechanism are relatively stationary, and the static component is driven to move upward by the lifting mechanism until the lifting device lifts and removes the static component.

[0027] The static-to-dynamic loading and unloading tooling of the present invention can solve the "static-to-dynamic" problem encountered when the upper tower and the lower tower are connected or disassembled due to the shaking of the floating foundation, and can safely realize the installation and operation and maintenance of large-capacity floating units at offshore machine sites, avoid the occurrence of events such as overturning of unit components, overturning of the crane arm, and damage to the flange of unit components, thereby ensuring the feasibility of the offshore construction process of large-capacity floating units. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the static-to-dynamic loading and unloading tooling of the present invention in a working state;

[0029] Figure 2 for Figure 1 Schematic diagram of the structure of the buffer unit in the static-to-dynamic loading and unloading tooling;

[0030] Figure 3 for Figure 1 Structural diagram of the heave compensation unit in the static-to-dynamic loading and unloading tooling;

[0031] Figure 4 for Figure 3 Schematic diagram of the structure of the heave compensation unit at the second angle;

[0032] Figure 5 for Figure 3 Schematic diagram of the structure of the heave compensation unit at the third angle;

[0033] Figure 6 for Figure 2 A schematic diagram of the structure of the buffer unit at a second angle;

[0034] Figure 7 for Figure 2 A first state diagram of the buffer unit being installed on the tower;

[0035] Figure 8 for Figure 2 A schematic diagram of the structure of the buffer unit when the static component and the dynamic component are connected;

[0036] Fig. 9 for Figure 8 Specific enlarged picture of

[0037] in, Figure 1-Figure 9 The reference numerals in the figures are described as follows:

[0038] 1-heave compensation unit; 100-main body; 101-moving block; 102-first hoisting part; 103-second hoisting part; 1041-first sensor; 1042-second sensor; 105-controller; 106-sling; 107-first drive unit; 1071-first drive unit; 1072-gear; 1073-rack; 108-second drive unit; 1081-first connecting arm; 1082-second connecting arm; 1083-hinged shaft; 1084-second drive unit driving unit; 109-rotating mechanism; 1091-connecting bearing; 1091a-first meshing tooth portion; 1092-first driving tooth portion; 1093-power component; 1094-first bevel gear; 1095-second bevel gear; 110-self-stabilizing mechanism; 1101-telescopic unit; 1101a-X-shaped telescopic frame; 1102-connecting rope; 1103-tension sensor; 1101b-third driving unit; 1101c-first screw rod; 1101d-first screw nut;

[0039] 2-buffer unit; 21-carrying mechanism; 22-slewing mechanism; 22a-first transmission part; 22b-second transmission part; 221-rotating bearing; 2211-inner ring; 2212-outer ring; 221a-second meshing tooth part; 222-second driving tooth part; 223-fourth driving unit; 23-lifting mechanism; 231-third driving part; 232-second screw-nut transmission unit; 2321-second screw; 233-driving gear; 234-driven gear; 235-belt; 24-climbing mechanism; 241-guide rail; 241a-pin shaft hole; 241b-reference hole; 242-traction part; 243-follower part; 244-telescopic part; 245-driving member; 246-pin shaft; 247-centering sensor; 25-pad; 26-positioning pin;

[0040] 01-static component; 02-dynamic component; 03-lifting device; 01'-upper tower; 02'-lower tower; 04-floating foundation; 05-positioning plate; 05a-positioning hole. DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] Please refer to Figure 1-Figure 2 , Figure 1 It is a structural schematic diagram of the static-to-dynamic loading and unloading tooling of the present invention in a working state; Figure 2 for Figure 1 Schematic diagram of the structure of the buffer unit in the static-to-dynamic loading and unloading tooling.

[0044] The present invention provides a static-to-dynamic loading and unloading tool, which is used for docking installation or disassembly of a static component 01 and a dynamic component 02. The static component 01 is hoisted above the dynamic component 02 by a lifting device 03. The static-to-dynamic loading and unloading tool comprises a heave compensation unit 1 and a buffer unit 2. The buffer unit 2 comprises a bearing mechanism 21, a slewing mechanism 22, a lifting mechanism 23 and a climbing mechanism 24. The slewing mechanism 22 comprises a first transmission part 22a and a second transmission part 22b that can rotate relatively. The lower end of the lifting mechanism 23 is connected to the first transmission part 22a, and the upper end of the lifting mechanism 23 is connected to the bearing mechanism 21. The climbing mechanism 24 is connected to the second transmission part 22b. The bearing mechanism 21, the static component 01 and the dynamic component 02 are all provided with a centering component.

[0045] When working, the heave compensation unit 1 is connected between the lifting device 03 and the static component 01, the buffer unit 2 is slidably installed on the outer periphery of the dynamic component 02, the climbing mechanism 24 can drive the buffer unit 2 to climb along the axial direction of the dynamic component 02, the slewing mechanism 22 can drive the bearing mechanism 21 to rotate, so that the bearing mechanism 21 and the dynamic component 02 are aligned, the lifting mechanism 23 can drive the bearing mechanism 21 to rise and fall, the bearing mechanism 21 can support the static component 01, and is connected to the static component 01 in an aligned manner, and the heave compensation unit 1 can perform heave compensation on the static component 01 according to the heave state of the bearing mechanism 21, so that the static component 01 and the bearing mechanism 21 are relatively still.

[0046] It can be understood that the static-to-dynamic loading and unloading tool of the present invention is applicable to any "static-to-dynamic" docking and disassembly working conditions. For example, the static-to-dynamic loading and unloading tool of the present invention can be applied to the offshore installation of a self-elevating platform and the operation and maintenance of a floating unit. Figure 1 As shown, the static component 01 is the upper tower 01', the dynamic component 02 is the lower tower 02' installed on the floating foundation 04, and the lifting device 03 is the crane of the jack-up platform. The following description is based on the example of the static-to-dynamic loading and unloading tooling of the present invention applied to the offshore installation of the jack-up platform and the operation and maintenance of the floating unit.

[0047] In order to solve the "static-to-dynamic" problem encountered when the upper tower 01' and the lower tower 02' are connected due to the shaking of the floating foundation, and to avoid damaging the connecting flanges between the unit towers, the present invention proposes a static-to-dynamic loading and unloading tool, including a heave compensation unit 1 and a buffer unit 2, wherein the buffer unit 2 is slidably installed on the outer periphery of the lower tower 02', that is, the climbing mechanism 24 is circumferentially limited with the lower tower 02' and is axially movable, and the climbing mechanism 24 can make the entire buffer unit 2 move along the outer wall of the lower tower 02' until the buffer unit 2 moves to the top of the lower tower 02' At the flange; the slewing mechanism 22 can rotate the upper bearing mechanism 21 to ensure that the bearing mechanism 21 and the lower tower 02' are aligned. In this way, after the upper tower 01' is aligned and connected with the bearing mechanism 21, the relative position between the upper tower 01' and the lower tower 02' can also be guaranteed to be correct, which is convenient for the subsequent docking installation of the upper tower 01' and the lower tower 02'. The lifting mechanism 23 can drive the bearing mechanism 21 to rise by its lifting function until the bearing mechanism 21 supports the upper tower 01', so as to realize the rapid alignment connection between the bearing mechanism 21 and the upper tower 01';

[0048] It can be understood that after the buffer unit 2 is docked with the upper tower 01', the lower tower 02' will rock along with the floating foundation 04, and then the lower tower 02' will drive the buffer unit 2 to rock, resulting in a gap between the bearing mechanism 21 and the support surface of the upper tower 01', and sometimes no gap. At this time, the upper tower 01' can be heave compensated by the heave compensation unit 1. The heave compensation unit 1 is connected between the crane of the self-elevating platform installation ship and the upper tower 01'. The heave compensation unit 1 can drive the upper tower 01' to do heave movement, ensuring that the upper tower 01' and the bearing mechanism 21 are relatively stationary, so that the bearing mechanism 21 and the support surface of the upper tower 01' can always maintain a supporting state;

[0049] After the buffer unit 2 is quickly docked with the upper tower 01', the lifting mechanism 23 uses its lifting function to drive the bearing mechanism 21 and the upper tower 01' to slowly and synchronously descend until the flanges of the upper tower 01' and the lower tower 02' are docked. Under the heave compensation action of the heave compensation unit 1, the upper tower 01' and the lower tower 02' are ensured to be docked stably to avoid damage caused by collision between the flanges; when the upper tower 01' and the lower tower 02' are docked, the two can be fixed together by connecting bolts, and the two together form a new lower tower 02'. At this time, the buffer unit 2 is located in the middle position of the lower tower 02', and the function of the climbing mechanism 24 needs to be used again to move the buffer unit 2 to the top flange of the lower tower 02', and the above steps are repeated to carry out the docking work of the new upper tower 01' and the lower tower 02'.

[0050] In addition, the large component replacement of the floating unit can also utilize the static-dynamic loading and unloading tooling. Specifically, the heave compensation unit 1 is still connected between the crane of the self-elevating platform installation ship and the upper tower 01', and the buffer unit 2 is still slidably installed on the outer periphery of the lower tower 02'. The buffer unit 2 uses the climbing function of the climbing mechanism 24 to move to the top flange of the lower tower 02', and then the lifting function of the lifting mechanism 23 is used to make the bearing mechanism 21 support the upper tower 01', and the bearing mechanism 21 and the upper tower 01' are connected in the center, and the upper tower 01' and the lower tower 01' are removed. The connecting bolts between the upper and lower towers 02' are tightened. At this time, the heave compensation unit 1 starts to work, and the heave compensation unit 1 is used to compensate the upper tower 01' to ensure that the supporting surface of the bearing mechanism 21 and the upper tower 01' can always maintain a supporting state. Then, the upper tower 01' is driven to move upward by the lifting mechanism 23 until the crane lifts and removes the upper tower 01', so as to avoid the lower tower 02' from colliding and being damaged by the flange of the upper tower 01' on the shaking floating foundation 04 due to the slow speed of the crane when lifting the upper tower 01'.

[0051] In summary, the static-to-dynamic loading and unloading tool of the present invention can solve the "static-to-dynamic" problem encountered when the upper tower 01' and the lower tower 02' are docked or disassembled due to the shaking of the floating foundation, and safely realize the installation and operation and maintenance of large-capacity floating units at offshore machine sites, avoiding the occurrence of events such as overturning of unit components, overturning of the crane arm, and damage to the flange of unit components, thereby ensuring the feasibility of the offshore construction process of large-capacity floating units; at the same time, the process scheme of installing floating units at offshore machine sites using the static-to-dynamic loading and unloading tool does not require the use of large-sized and large-tonnage dock cranes at the dock, nor does it require the occupation of dock space. The transformation of the wharf bearing capacity can greatly reduce the construction cost of large-capacity floating units. At the same time, when installing floating units at sea, there is no need to tow the floating foundation and wind turbines as a whole, which greatly reduces the towing cost and the uncertain risks during the towing process, such as typhoon interference, and reduces transportation risks. The use of this static-to-dynamic loading and unloading tooling can also take into account the replacement of large components of the floating units in the later stage, ensuring the feasibility of future deep-sea large-capacity floating units at sea. There is no need to use the existing method of towing the entire unit to the wharf for replacement of large components, which greatly reduces the maintenance cost of the floating units. In addition, by setting a separate heave compensation unit 1 between the crane and the upper tower 01' to actively compensate for the heave of the upper tower 01', the lifting force of the crane can always remain unchanged, and the heave compensation efficiency is higher.

[0052] At the same time, it is precisely because of the setting of the climbing mechanism 24 that the buffer unit 2 can move to the top flange of the lower tower 02' when each section of the tower is docked, that is, the buffer unit 2 is located at the same position of the lower tower 02' when each section of the tower is docked. In this way, the movement trajectory of the lifting mechanism 23 when each section of the tower is docked can also remain consistent, that is, the lifting mechanism 23 drives the bearing mechanism 21 to rise the same distance each time to achieve rapid centering docking of the bearing mechanism 21 and the upper tower 01', and the lifting mechanism 23 drives the bearing mechanism 21 and the upper tower 01' to descend the same distance each time to achieve docking of the upper tower 01' and the lower tower 02'. It can be seen that it is precisely because of the setting of the climbing mechanism 24 that the control principle of the lifting mechanism 23 becomes simpler and less prone to errors.

[0053] As mentioned above, the heave compensation unit 1 can perform heave compensation on the static component 01 according to the heave state of the bearing mechanism 21, so that the static component 01 and the bearing mechanism 21 are relatively stationary. The heave compensation unit 1 specifically includes two working stages during the docking installation process:

[0054] The first working stage is when the bearing mechanism 21 drives the static component 01 to descend synchronously and the flanges of the static component 01 and the dynamic component 02 have not yet touched. At this time, the heave displacement of the bearing mechanism 21 needs to consider not only the heave displacement of the dynamic component 02 but also the descending displacement of the bearing mechanism 21 itself. The combined displacement of the two is the heave displacement of the bearing mechanism 21. The heave displacement of the static component 01 is equal to the heave displacement of the bearing mechanism 21, ensuring that the static component 01 and the bearing mechanism 21 are relatively stationary.

[0055] In the second working stage, i.e., the flanges of the static component 01 and the dynamic component 02 are in contact but the bolts have not yet been inserted, the support mechanism 21 and the static component 01 are still in a connected state. At this time, the support mechanism 21 and the dynamic component 02 are relatively stationary. Therefore, the heave displacement of the dynamic component 02 is also the heave displacement of the support mechanism 21. The heave displacement of the static component 01 is equal to the heave displacement of the support mechanism 21, which is also equal to the heave displacement of the dynamic component 02. The static component 01 and the support mechanism 21 are relatively stationary, which is also relatively stationary with the dynamic component 02, thereby facilitating the subsequent operation of tightening the bolts.

[0056] The heave compensation unit 1 includes a working stage during the disassembly process, that is, the support mechanism 21 drives the static component 01 to rise synchronously, and the static component 01 and the dynamic component 02 gradually move away from each other. At this time, the heave displacement of the support mechanism 21 needs to consider not only the heave displacement of the dynamic component 02, but also the lifting displacement of the support mechanism 21 itself. The combined displacement of the two is the heave displacement of the support mechanism 21. The heave displacement of the static component 01 is equal to the heave displacement of the support mechanism 21, ensuring that the static component 01 and the support mechanism 21 are relatively still.

[0057] Please refer to Figure 3-Figure 5 , Figure 3 for Figure 1 Structural diagram of the heave compensation unit in the static-to-dynamic loading and unloading tooling; Figure 4 for Figure 3 Schematic diagram of the structure of the heave compensation unit at the second angle; Figure 5 for Figure 3 Schematic diagram of the structure of the heave compensation unit at the third angle.

[0058] In the present invention, the heave compensation unit 1 includes a main body 100, a moving block 101 slidably mounted on the main body 100, and a driving mechanism, the driving mechanism is used to drive the moving block 101 to slide along the axial direction of the main body 100, the main body 100 is provided with a first hoisting part 102, and the moving block 101 is provided with a second hoisting part 103.

[0059] It also includes a first sensor 1041 and a controller 105. The first sensor 1041 is arranged on the moving block 101. The first sensor 1041 is used to detect the heave displacement of the moving block 101. The driving mechanism and the moving block 101 are electrically connected to the controller 105. The controller 105 is used to control the action of the driving mechanism so that the moving block 101 has a preset heave displacement.

[0060] As configured above, when working, the heave compensation unit 1 is connected between the crane of the jack-up platform installation vessel and the upper tower 01 ', specifically:

[0061] The hook of the crane is connected to the first hoisting part 102 through the sling 106, and the upper tower 01' is connected to the second hoisting part 103 through the sling 106. The controller 105 is the control core of the entire heave compensation unit 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 bearing mechanism 21, 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 1041 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 displacement value of the moving block 101 detected by the first sensor 1041. 01' is compared with the heave displacement of the supporting mechanism 21 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 supporting mechanism 21. At this time, the controller 105 controls the driving mechanism to stop moving. According to the shaking amplitude and frequency of the floating foundation 04, the heave compensation unit 1 of the present invention will repeatedly perform heave compensation on the upper tower 01' through the moving block 101, so that the upper tower 01' and the supporting mechanism 21 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 tower connection bolts. Moreover, during the lifting process, there will be no overturning of the unit components, overturning of the crane arm, damage to the flange of the unit components, and other events.

[0062] In the present invention, the first sensor 1041 is a displacement sensor, which can directly detect the heave displacement of the moving block 101. In practice, the first sensor 1041 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 1041 is actually used to detect the heave state of the moving block 101.

[0063] As mentioned above, when the heave compensation unit 1 of the present invention is applied to offshore installation and operation and maintenance of a floating unit, the controller 105 can obtain the heave state of the floating foundation 04, specifically, Figure 1 As shown, a second sensor 1042 may be provided on the floating foundation 04 or the lower tower 02'. The second sensor 1042 is electrically connected to the controller 105. The second sensor 1042 may be an acceleration sensor or a displacement sensor, wherein:

[0064] When the second sensor 1042 is an acceleration sensor, the second sensor 1042 is used to detect the heave acceleration of the floating foundation 04, and transmit the detected heave acceleration to the controller 105, and the controller 105 obtains the heave displacement of the floating foundation 04 after a secondary integral series calculation;

[0065] When the second sensor 1042 is a displacement sensor, the second sensor 1042 can directly detect the heave displacement of the floating foundation 04 , and transmit the detected heave displacement to the controller 105 .

[0066] It can be understood that during the docking installation process, the bearing mechanism 21 drives the static component 01 to descend synchronously. When the flanges of the static component 01 and the dynamic component 02 are not in contact, the controller 105 needs to obtain the descending displacement of the bearing mechanism 21 itself after obtaining the heave displacement of the floating foundation 04. The heave displacement of the bearing mechanism 21 is calculated after the two are synthesized. The descending displacement of the bearing mechanism 21 itself can be obtained by the lifting displacement of the lifting mechanism. When the flanges of the static component 01 and the dynamic component 02 are in contact but the bolts have not yet been inserted, after the controller 105 obtains the heave displacement of the floating foundation 04, the heave displacement is the heave displacement of the bearing mechanism 21.

[0067] During the disassembly process, the bearing mechanism 21 drives the static component 01 to rise synchronously. When the static component 01 and the dynamic component 02 gradually move away from each other, the controller 105 needs to obtain the lifting displacement of the bearing mechanism 21 itself after obtaining the heave displacement of the floating foundation 04. The heave displacement of the bearing mechanism 21 is calculated by synthesizing the two. The lifting displacement of the bearing mechanism 21 itself can be obtained by the lifting displacement of the lifting mechanism.

[0068] As mentioned above, the heave compensation unit 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:

[0069] 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.

[0070] 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.

[0071] Furthermore, in this embodiment, the driving mechanism further includes a second driving unit 108, specifically:

[0072] 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 controller 105 is electrically connected to the second driving unit 1084.

[0073] 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.

[0074] In this embodiment, the second driving unit 1084 is a hydraulic cylinder. In practical applications, the second driving unit 1084 can also be a gas cylinder, an electric cylinder, etc.

[0075] The heave compensation unit 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 unit 1 may also be provided with only the first drive unit 107 or only the second drive unit 108.

[0076] As mentioned above, the support mechanism 21 and the static component 01 need to be connected in a centering manner to ensure that the relative positions of the static component 01 and the dynamic component 02 are correct. Therefore, it is necessary to be able to adjust the angle of the static component 01.

[0077] Based on this, the heave compensation unit 1 of the present invention also includes a rotating mechanism 109, which is connected between the main body 100 and the first lifting part 102. The rotating mechanism 109 can drive the main body 100 and the moving block 101 to rotate relative to the first lifting part 102, thereby causing the static component 01 connected to the moving block 101 to rotate, thereby ensuring that the baseline of the static component 01 and the dynamic component 02 are aligned and the direction is accurate when docking.

[0078] Among them, Figure 3-Figure 5 As shown, the rotating mechanism 109 specifically includes a connecting bearing 1091, the lower end of the outer ring of the connecting bearing 1091 is connected to the main body 100, the upper end of the outer ring of the connecting bearing 1091 is circumferentially provided with a first meshing tooth portion 1091a, the inner ring of the connecting bearing 1091 is connected to the first lifting portion 102, the rotating mechanism 109 also includes a driving unit and a first driving tooth portion 1092, the first driving tooth portion 1092 and the first meshing tooth portion 1091a are meshed with each other, the driving unit and the first driving tooth portion 1092 are transmission-connected, the driving unit is used to drive the first driving tooth portion 1092 to rotate, and the driving unit and the controller 105 are electrically connected.

[0079] In this way, when working, the driving unit can first drive the first driving tooth portion 1092 to rotate. Under the meshing action of the first driving tooth portion 1092 and the first meshing tooth portion 1091a, the first driving tooth portion 1092 drives the outer ring of the connecting bearing 1091 to rotate. Since the lower end of the outer ring of the connecting bearing 1091 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 1091, thereby driving the static component 01 to rotate, ensuring that the static component 01 can be centered when docking with the supporting mechanism 12.

[0080] In this embodiment, the first driving tooth portion 1092 is a worm, and the driving unit includes a power component 1093, and a first bevel gear 1094 and a second bevel gear 1095 that are meshed with each other. The output shaft of the power component 1093 is connected to the first bevel gear 1094, and the power component 1093 is used to drive the first bevel gear 1094 to rotate, and the worm and the second bevel gear 1095 are connected.

[0081] The power component 1093 may be a driving motor. In this way, when working, the output shaft of the driving motor rotates to drive the first bevel gear 1094 to rotate synchronously. Under the meshing action of the first bevel gear 1094 and the second bevel gear 1095, the first bevel gear 1094 drives the second bevel gear 1095 to rotate synchronously. Since the worm is connected to the second bevel gear 1095, the second bevel gear 1095 can drive the worm to rotate synchronously, and then the outer ring of the connecting bearing 1091 is rotated under the meshing action of the worm and the outer ring of the connecting bearing 1091.

[0082] It can be seen that in this embodiment, the first bevel gear 1094 and the second bevel gear 1095 mainly play the role of transmission and changing the transmission direction, so that the power component 1093 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 1094 and the second bevel gear 1095, and the output shaft of the power component 1093 can be directly connected to the worm.

[0083] In this embodiment, the first driving tooth portion 1092 is a worm. In practice, the first driving tooth portion 1092 can also be a driving gear, and the driving gear and the outer ring of the connecting bearing 1091 are driven by gear meshing, and the output shaft of the power component 1093 is directly connected to the driving gear. In this way, the output shaft of the power component 1093 can drive the driving gear to rotate, and the outer ring of the connecting bearing 1091 is rotated under the meshing action of the driving gear and the outer ring of the connecting bearing 1091.

[0084] It can be understood that in actual work, the heave compensation unit 1 will inevitably be subjected to forces such as wind loads at high altitudes. In order to ensure the stability of the heave compensation unit 1 and the static component 01 at high altitudes and prevent the heave compensation unit 1 and the static component 01 from deflecting or shaking due to wind loads, the heave compensation unit 1 of the present invention further includes a self-stabilizing mechanism 110, such as Figure 4-Figure 5 As shown, the self-stabilizing mechanism 110 includes a telescopic unit 1101, a connecting rope 1102 and a tension sensor 1103. The telescopic unit 1101 is arranged on the main body 100. The telescopic unit 1101 and the connecting rope 1102 are connected to each other. The end of the connecting rope 1102 away from the telescopic unit 1101 is connected to the boom of the crane. The telescopic direction of the telescopic unit 1101 and the axial direction of the main body 100 have an angle. The tension sensor 1103 is arranged on the connecting rope 1102. The telescopic unit 1101 is electrically connected to the controller 105. The controller 105 is used to control the telescopic unit 1101 to retract so that the tension of the connecting rope 1102 is constant.

[0085] In this way, when the static component 01 hoisted by the heave compensation unit 1 is in a stable state at high altitude, the tension sensor 1103 detects that the connecting rope 1102 has a preset tension. When the heave compensation unit 1 encounters wind load and deflects, the detection value of the tension sensor 1103 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 1101 to control the telescopic unit 1101 to perform a telescopic action so that the tension of the connecting rope 1102 returns to the preset tension in the stable state. When the controller 105 receives the detection result of the tension sensor 1103 and finds that it returns to the preset tension, the controller 105 will send a command signal to stop the telescopic unit 1101, thereby ensuring that the static component 01 hoisted by the heave compensation unit 1 is always in a stable state at high altitude.

[0086] Furthermore, if Figure 4 and Figure 5 As shown, the telescopic unit 1101 specifically includes a driving assembly and an X-shaped telescopic frame 1101a, the driving assembly includes a third driving unit 1101b and a first screw nut transmission unit, the first screw nut transmission unit includes a first screw 1101c and a first nut 1101d that are threadedly connected, the first screw 1101c is rotatably mounted on the main body 100, the output shaft of the third driving unit 1101b is connected to the first screw 1101c, and is used to drive the first screw 1101c to rotate, and the third driving unit 1101b is electrically connected to the controller 105,

[0087] The end of the X-shaped telescopic frame 1101a away from the connecting rope 1102 has two connecting ends, one of which is hinged to the main body 100, and the other is connected to the first nut 1101d.

[0088] The third driving unit 1101b may be a driving motor. When working, when the third driving unit 1101b receives the extension instruction from the controller 105, the third driving unit 1101b can drive the first screw rod 1101c to rotate, and under the thread cooperation of the first screw rod 1101c and the first nut 1101d, the first nut 1101d moves along the axial direction of the first screw rod 1101c, and the two telescopic arms in the X-shaped telescopic frame 1101a approach each other around the hinge, and the angle between the two telescopic arms gradually decreases, and the X-shaped telescopic frame 1101a gradually extends; When the third driving unit 1101b receives the contraction command from the controller 105, the third driving unit 1101b can drive the first screw rod 1101c to rotate in the opposite direction. Under the cooperation of the threads of the first screw rod 1101c and the first nut 1101d, the first nut 1101d moves in the opposite direction along the axial direction of the first screw rod 1101c, and the two telescopic arms in the X-shaped telescopic frame 1101a move away from each other around the hinge, and the angle between the two telescopic arms gradually increases, and the X-shaped telescopic frame 1101a gradually contracts.

[0089] In practical applications, there is no limit to the number of self-stabilizing mechanisms 110, for example, there may be at least one self-stabilizing mechanism 110. In this embodiment, the heave compensation unit 1 is provided with two self-stabilizing mechanisms 110, providing two connection points between the main body 100 and the boom of the crane, further improving the attitude stability of the heave compensation unit 1 at high altitudes.

[0090] In this embodiment, the telescopic unit 1101 is in the form of a driving assembly and an X-shaped telescopic frame 1101a. In actual applications, the telescopic unit 1101 can also be a cylinder / hydraulic cylinder, and the push rod of the cylinder / hydraulic cylinder is directly connected to the connecting rope 1102.

[0091] As mentioned above, the telescopic direction of the telescopic unit 1101 and the axial direction of the main body 100 have an angle. In this embodiment, the telescopic direction of the telescopic unit 1101 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 1101 and the axial direction of the main body 100 are not perpendicular to each other, as long as the tension of the connecting rope 1102 can be kept constant by the telescopic unit 1101.

[0092] Please refer to Figure 1-Figure 2 , Figure 6-Figure 9 , Figure 6 for Figure 2 A schematic diagram of the structure of the buffer unit at a second angle; Figure 7 for Figure 2 A first state diagram of the buffer unit being installed on the tower; Figure 8 for Figure 2 A schematic diagram of the structure of the buffer unit when the static component and the dynamic component are connected; Fig. 9 for Figure 8 Specific enlarged view.

[0093] As mentioned above, the bearing mechanism 21 in the buffer unit 2 can be connected to the static component 01 in a centering manner. Specifically, in this embodiment, the upper side wall of the bearing mechanism 21 is connected with four pads 25, each pad 25 is provided with two positioning pins 26, and the outer side wall of the static component 01 is connected with four positioning plates 05 at corresponding positions, each positioning plate 05 is provided with two positioning holes 05a, and when the bearing mechanism 21 supports the positioning plate 05 of the static component 01, the positioning pins 26 and the positioning holes 05a are assembled and disassembled, the bearing mechanism 21 and the static component 01 are connected in a centering manner. It can be seen that in this embodiment, the positioning pins 26 and the positioning holes 05a form the centering components of the bearing mechanism 21 and the static component 01.

[0094] In practical applications, it is also feasible to set the positioning pin 26 on the static component 01 and the positioning hole 05a on the supporting mechanism 21, and the positioning connection between the static component 01 and the supporting mechanism 21 can also be achieved. At the same time, the number of the positioning pin 26 and the positioning hole 05a is not limited, and there can be at least one positioning pin 26 and the positioning hole 05a.

[0095] In addition, in actual applications, the alignment between the supporting mechanism 21 and the static component 01 is not limited to the form of the above-mentioned positioning pins 26 and positioning holes 05a. For example, a positioning protrusion is provided on the outer peripheral wall of the static component 01, and the supporting mechanism 21 is correspondingly connected with a positioning block, and a positioning groove is formed inside the positioning block. When the supporting mechanism 21 supports the static component 01, the positioning protrusion is inserted into the corresponding positioning groove to achieve the alignment of the supporting mechanism 21 and the static component 01.

[0096] As mentioned above, the slewing mechanism 22 can drive the bearing mechanism 21 to rotate so that the bearing mechanism 21 and the dynamic component 02 are aligned. Specifically, the bearing mechanism 21 and the dynamic component 02 can be set with a centering reference line, and a camera is set at the position of the centering reference line of one of the bearing mechanism 21 and the dynamic component 02, and the camera is aimed at the other of the bearing mechanism 21 and the dynamic component 02, and the camera captures the picture to determine whether the bearing mechanism 21 and the dynamic component 02 are aligned. At the same time, the static component 01 can also be set with a centering reference line. When the positioning pin 26 and the positioning hole 05a are inserted and matched, the centering reference line of the static component 01 and the centering reference line of the bearing mechanism 21 are aligned to ensure the centering connection between the bearing mechanism 21 and the static component 01.

[0097] In practice, the buffer unit 2 may be provided with a separate controller, and the slewing mechanism 22, the lifting mechanism 23 and the climbing mechanism 24 are all electrically connected to the controller, and the controller can control the slewing mechanism 22, the lifting mechanism 23 and the climbing mechanism 24 to start or stop the action according to the above principle. Alternatively, the buffer unit 2 and the heave compensation unit 1 may also share the same controller.

[0098] Furthermore, in the buffer unit 2 of the present invention, the rotating mechanism 22 specifically includes a rotating bearing 221, a second driving tooth portion 222 and a fourth driving unit 223, the inner ring 2211 of the rotating bearing 221 is connected to the climbing mechanism 24, the outer ring 2212 of the rotating bearing 221 is connected to the lifting mechanism 23, the outer ring 2212 of the rotating bearing 221 is provided with a second meshing tooth portion 221a on the outer peripheral wall, the second driving tooth portion 222 and the second meshing tooth portion 221a are meshed with each other, the output shaft of the fourth driving unit 223 is connected to the second driving tooth portion 222, the fourth driving unit 223 can drive the second driving tooth portion 222 to rotate, the outer ring 2212 of the rotating bearing 221 forms the aforementioned first transmission portion 22a, and the inner ring 2211 of the rotating bearing 221 forms the aforementioned second transmission portion 22b.

[0099] The fourth drive unit 223 may be a drive motor. When working, the controller may control the fourth drive unit 223 to start, and the output shaft of the fourth drive unit 223 drives the second drive tooth portion 222 to rotate synchronously. Under the meshing action of the second drive tooth portion 222 and the second meshing tooth portion 221a, the second drive tooth portion 222 drives the outer ring 2212 of the rotating bearing 221 to rotate, and the outer ring 2212 of the rotating bearing 221 drives the bearing mechanism 21 to rotate through the lifting mechanism 23, so as to realize the centering of the bearing mechanism 21 and the dynamic component 02, which is convenient for the subsequent docking and installation of the static component 01 and the dynamic component 02.

[0100] In this embodiment, the second driving tooth portion 222 is a driving gear, and the second driving tooth portion 222 and the outer ring 2212 of the rotating bearing 221 are driven by gear meshing. In practical applications, the second driving tooth portion 222 can also be a worm, and the fourth driving unit 223 is also a driving motor. The output shaft of the driving motor is coaxially connected to the worm, and the driving motor drives the worm to rotate. Under the meshing action of the worm and the second meshing tooth portion 221a, the worm drives the outer ring 2212 of the rotating bearing 221 to rotate.

[0101] In the present invention, the climbing mechanism 24 includes a guide rail 241 and a climbing unit. The guide rail 241 is provided with pin shaft holes 241a distributed at intervals along the axial direction. The climbing unit includes a traction part 242, a follower part 243, and a telescopic component 244 connecting the traction part 242 and the follower part 243. The telescopic component 244 can be telescopic to drive the traction part 242 and the follower part 243 to be relatively close to or relatively far away from each other. The telescopic distance of the telescopic component 244 is not less than the distance between two adjacent pin shaft holes 241a. The follower part 243 is connected to the second transmission part 22b, that is, the follower part 243 is connected to the inner ring 2211 of the rotating bearing 221. The inner walls of the traction part 242 and the follower part 243 are both provided with a driving member 245 and a pin shaft 246. The output shaft of the driving member 245 is connected to the pin shaft 246. The output shaft of the driving member 245 can be extended or retracted to drive the pin shaft 246 to extend or retract.

[0102] In the installed state, the guide rail 241 is fixed to the outer peripheral walls of the static component 01 and the dynamic component 02, and the guide rail 241 extends along the axial direction of the static component 01 and the dynamic component 02. The traction part 242 and the follower part 243 are both slidably installed on the guide rail 241. The pin shaft 246 can be extended or retracted under the action of the driving member 245 to be inserted into the pin shaft hole 241a, or detached from the pin shaft hole 241a.

[0103] In practice, the driving member 245 and the telescopic member 244 in the traction part 242 and the follower part 243 are electrically connected to the controller. The driving member 245 can be a cylinder / hydraulic cylinder / electric cylinder, etc., and the push rod of the cylinder / hydraulic cylinder / electric cylinder is connected to the pin shaft 246.

[0104] When the tower needs to be docked, the buffer unit 2 needs to climb to the top flange of the lower tower 02', which can be achieved through the climbing function of the climbing mechanism 24, that is, the climbing mechanism 24 is located at the bottom or middle of the lower tower 02' in the initial state, and the pins 246 in the traction part 242 and the follower part 243 are inserted into the corresponding pin holes 241a. When the climbing mechanism 24 receives the climbing instruction, the controller first controls the drive member 245 in the follower part 243 to retract, and the drive member 245 drives the corresponding pin 246 to retract. The pin 246 in the follower 243 is disengaged from the corresponding pin hole 241a, and the limit between the follower 243 and the guide rail 241 is released; then, the telescopic component 244 moves the follower 243 upward along the guide rail 241 to the position of the pin hole 241a adjacent to the upper end through the extension action, and the extension action of the telescopic component 244 stops, and the driving member 245 in the follower 243 is actuated to extend the corresponding pin 246 to the pin hole 241a adjacent to the upper end. At this time, the follower 243 completes a climbing stroke;

[0105] Next, the driving member 245 in the traction part 242 is actuated, the output shaft of the driving member 245 is retracted, and the pin shaft 246 in the traction part 242 is retracted, so that the pin shaft 246 in the traction part 242 is disengaged from the corresponding pin shaft hole 241a, and the limit between the traction part 242 and the guide rail 241 is released; then, the telescopic component 244 moves the traction part 242 upward along the guide rail 241 to the position of the pin shaft hole 241a at the adjacent upper end through the retraction action, and the retraction action of the telescopic component 244 stops, and the driving member 245 in the traction part 142 is actuated to extend the corresponding pin shaft 246 to the inside of the pin shaft hole 241a at the adjacent upper end. At this time, the buffer unit 2 completes a climbing stroke as a whole, and the above actions are repeatedly performed until the buffer unit 2 reaches the top flange of the lower tower 02'.

[0106] It can be seen that through the setting of the above climbing mechanism 24, the buffer unit 2 can climb to the top flange of the lower tower 02' during each docking, thereby playing a buffering role when the lower tower 02' and the upper tower 01' are docked; at the same time, the setting of the climbing mechanism 24 enables the movement trajectory of the lifting mechanism 23 to remain consistent when each section of the tower is docked, thereby simplifying the control principle of the lifting mechanism 23.

[0107] The telescopic component 244 may specifically be a telescopic cylinder.

[0108] Furthermore, if Figure 2 and Fig. 9As shown, in the present invention, the guide rail 241 is also provided with reference holes 241b distributed at intervals along the axial direction, the reference holes 241b and the pin shaft holes 241a correspond one to one, and the inner walls of the traction part 242 and the follower part 243 are both provided with centering sensors 247. When the centering sensor 247 detects the position of the reference hole 241b, the pin shaft 246 is opposite to the pin shaft hole 241a.

[0109] In this way, during the climbing process of the traction part 242 and the following part 243, the centering sensor 247 will continue to detect the position of the reference hole 241b. When the centering sensor 247 detects the position of the reference hole 241b for the first time, it indicates that the traction part 242 or the following part 243 has completed a climbing stroke. At this time, the controller will control the telescopic part 244 to stop moving, and control the driving part 245 of the traction part 242 or the following part 243 to move, and extend the corresponding pin shaft 246 to the inside of the pin shaft hole 241a.

[0110] It can be seen that, by setting the reference hole 241 b and the centering sensor 247 , the climbing stroke of the traction part 242 and the follower part 243 can be accurately controlled, thereby improving the movement accuracy of the traction part 242 and the follower part 243 .

[0111] In practice, the centering sensor 247 is also electrically connected to the controller. The specific structure and detection principle of the centering sensor 247 are well known to those skilled in the art and will not be described in detail herein.

[0112] Please continue to refer to Figure 2 , Figure 6-Figure 9 In this embodiment, the lifting mechanism 23 includes a third driving part 231 and a plurality of second screw-nut transmission units 232. The third driving part 231 and the plurality of second screw-nut transmission units 232 are distributed along the circumference of the first transmission part 22a, that is, distributed along the circumference of the outer ring 2212 of the rotating bearing 221. The second screw-nut transmission unit 232 includes a second screw 2321 and a third nut which are threadedly connected. The lower end of the second screw 2321 is rotatably connected to the first transmission part 22a, and the third nut is connected to the bearing mechanism 21. The third driving part 231 is connected to the first transmission part 22a, and the output shaft of the third driving part 231 is rotatably passed through the bearing mechanism 21.

[0113] It also includes a driving gear 233 and multiple driven gears 234. The driving gear 233 is connected to the output shaft of the third driving unit 231. The third driving unit 231 can drive the driving gear 233 to rotate. The driven gears 234 are connected to the upper end of the second screw rod 2321 one by one. The driving gear 233 and the multiple driven gears 234 are connected through a belt 235.

[0114] In practice, the third driving part 231 may be a driving motor. When working, the output shaft of the third driving part 231 can drive the driving gear 233 to rotate through the action of the third driving part 231, and the driving gear 233 drives each driven gear 234 to rotate through the belt 235, and the driven gear 234 can make the corresponding second screw rod 2321 rotate. Under the thread cooperation of the second screw rod 2321 and the third screw nut, the corresponding third screw nut can move along the axial direction of the second screw rod 2321, thereby realizing the lifting and lowering of the bearing mechanism 21.

[0115] In practice, the lifting mechanism 23 is not limited to the above implementation. For example, the lifting mechanism 23 includes multiple driving parts, which are distributed along the circumference of the first transmission part 22a. The driving parts are connected to the first transmission part 22a. The output shaft of the driving parts is connected to the bearing mechanism 21. The output shaft of the driving parts can be extended or retracted to achieve the lifting of the bearing mechanism 21. The driving part can be a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, etc. It can be seen that this implementation method realizes the lifting of the bearing mechanism 21 through multiple power sources, while the present invention realizes the lifting of the bearing mechanism 21 through a single power source and mechanical transmission, which has reliable transmission and low cost, and is a more preferred technical solution.

[0116] The present invention also provides a static-to-dynamic docking method, based on the above-mentioned static-to-dynamic loading and unloading tooling, comprising the following steps:

[0117] The heave compensation unit 1 is connected between the lifting device 03 and the static component 01, and the buffer unit 2 is slidably mounted on the periphery of the dynamic component 02;

[0118] The climbing mechanism 24 climbs along the axial direction of the dynamic component 02 until the buffer unit 2 moves to the top flange of the dynamic component 02;

[0119] The slewing mechanism 22 drives the supporting mechanism 21 to rotate, so that the supporting mechanism 21 and the dynamic component 02 are aligned, and the lifting mechanism 23 drives the supporting mechanism 21 to rise until the supporting mechanism 21 supports the static component 01, and the supporting mechanism 21 and the static component 01 are aligned and connected;

[0120] The heave compensation unit 1 performs heave compensation on the static component 01 according to the heave state of the bearing mechanism 21, so that the static component 01 and the bearing mechanism 21 are relatively still, and the lifting mechanism 23 drives the bearing mechanism 21 and the static component 01 to descend synchronously until the flanges of the static component 01 and the dynamic component 02 are butt-jointed and installed together.

[0121] The static-to-dynamic docking method of the present invention is based on the aforementioned static-to-dynamic loading and unloading tooling, and therefore has the same technical effects as the aforementioned static-to-dynamic loading and unloading tooling, which will not be described in detail herein.

[0122] The heave compensation unit 1 performs heave compensation on the static component 01 according to the heave state of the bearing mechanism 21, so that the static component 01 and the bearing mechanism 21 are relatively stationary, which specifically includes the following steps:

[0123] The heave state of the bearing mechanism 21 is detected, and the moving block 101 is controlled to perform heave compensation, so that the bearing mechanism 21 and the moving block 101 have the same heave displacement.

[0124] In this way, when applied to the offshore installation of a self-elevating platform and the operation and maintenance of a floating unit, the heave compensation unit 1 can repeatedly perform heave compensation on the upper tower 01' through the moving block 101, so that the upper tower 01' and the bearing mechanism 21 always remain relatively still, 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. During the lifting process, there will be no incidents such as overturning of unit components, overturning of the crane arm, and damage to the flange of unit components.

[0125] As mentioned above, when the support mechanism 21 drives the static component 01 to descend synchronously and the flanges of the static component 01 and the dynamic component 02 have not yet contacted, the heave displacement of the support mechanism 21 needs to consider not only the heave displacement of the dynamic component 02, but also the descending displacement of the support mechanism 21 itself. The combined displacement of the two is the heave displacement of the support mechanism 21; when the flanges of the static component 01 and the dynamic component 02 have been in contact but the bolts have not yet been inserted, the heave displacement of the dynamic component 02 is also the heave displacement of the support mechanism 21.

[0126] Furthermore, the heave compensation method of the present invention further comprises the following steps:

[0127] The rotating mechanism 109 is controlled to move and drive the main body 100 to rotate relative to the first hanging part 102 so that the static component 01 can be aligned with the supporting mechanism 21 .

[0128] In this way, the docking installation of the static component 01 and the dynamic component 02 is facilitated.

[0129] Furthermore, the heave compensation method of the present invention further comprises the following steps:

[0130] The tension of the connecting rope 1102 is detected. When the tension of the connecting rope 1102 deviates from the preset tension, the telescopic unit 1101 is controlled to be telescopic. When the tension of the connecting rope 1102 returns to the preset tension, the telescopic unit 1101 is controlled to stop moving.

[0131] In this way, it can be ensured that the static component 01 hoisted by the heave compensation unit 1 is always in a stable state at high altitude.

[0132] The present invention also provides a static-to-dynamic disassembly method, based on the above-mentioned static-to-dynamic loading and unloading tool, comprising the following steps:

[0133] The heave compensation unit 1 is connected between the lifting device 03 and the static component 01, and the buffer unit 2 is slidably mounted on the periphery of the dynamic component 02;

[0134] The climbing mechanism 24 climbs along the axial direction of the dynamic component 02 until the buffer unit 2 moves to the top flange of the dynamic component 02;

[0135] The lifting mechanism 23 drives the supporting mechanism 21 to rise until the supporting mechanism 21 supports the static component 01, and the supporting mechanism 21 and the static component 01 are connected in a center, and the connecting bolts between the dynamic component 02 and the static component 01 are removed;

[0136] The heave compensation unit 1 performs heave compensation on the static component 01 according to the heave state of the bearing mechanism 21, so that the static component 01 and the bearing mechanism 21 are relatively stationary, and the static component 01 is driven upward by the lifting mechanism 23 until the lifting device lifts and removes the static component 01.

[0137] The static-to-dynamic disassembly method of the present invention is based on the aforementioned static-to-dynamic loading and unloading tooling, and therefore has the same technical effects as the aforementioned static-to-dynamic loading and unloading tooling, which will not be described in detail herein.

[0138] As mentioned above, when the support mechanism 21 drives the static component 01 to rise synchronously and the static component 01 and the dynamic component 02 gradually move away from each other, the heave displacement of the support mechanism 21 needs to consider not only the heave displacement of the dynamic component 02, but also the lifting displacement of the support mechanism 21 itself. The combination of the two is the heave displacement of the support mechanism 21.

[0139] The above is a detailed introduction to a static-to-dynamic loading and unloading tool, a static-to-dynamic docking method, and a static-to-dynamic disassembly method provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to 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 static-to-dynamic loading and unloading tool, used for docking installation or disassembly of a static component and a dynamic component, wherein the static component is hoisted above the dynamic component by a lifting device, It is characterized in that The static-to-dynamic loading and unloading tooling comprises a heave compensation unit and a buffer unit; The buffer unit includes a bearing mechanism, a rotating mechanism, a lifting mechanism and a climbing mechanism. The rotating mechanism includes a first transmission part and a second transmission part that can rotate relative to each other. The lower end of the lifting mechanism is connected to the first transmission part, and the upper end of the lifting mechanism is connected to the bearing mechanism. The climbing mechanism is connected to the second transmission part. The bearing mechanism, the static component and the dynamic component are all provided with centering components.

2. According to the static-to-dynamic loading and unloading tooling of claim 1, It is characterized in that The heave compensation unit comprises a main body, a moving block slidably mounted on the main body, and a driving mechanism, wherein the driving mechanism is used to drive the moving block to slide along the axial direction of the main body, the main body is provided with a first hoisting part, and the moving block is provided with a second hoisting part. It also includes a first sensor and a controller. The first sensor is arranged on the moving block and is used to detect the heave state of the moving block. The driving mechanism and the first sensor are electrically connected to the controller. The controller is used to control the action of the driving mechanism so that the moving block has a preset heave displacement.

3. According to claim 2, the static-to-dynamic loading and unloading tool, It is characterized in that The heave compensation unit 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. According to claim 2, the static-to-dynamic loading and unloading tool, It is characterized in that The heave compensation unit 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 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. The controller is used to control the telescopic unit to extend and retract so that the tension of the connecting rope is constant.

5. According to the static-to-dynamic loading and unloading tooling of claim 1, It is characterized in that One of the bearing mechanism and the static component is provided with a positioning pin, and the other is provided with a positioning hole. When the positioning pin and the positioning hole are inserted and matched, the bearing mechanism and the static component are connected in a centering manner, and the positioning pin and the positioning hole form the centering component.

6. A static-to-dynamic docking method, based on the static-to-dynamic loading and unloading tooling according to any one of claims 1 to 5, It is characterized in that The steps include: The heave compensation unit is connected between the lifting device and the static component, and the buffer unit is slidably mounted on the periphery of the dynamic component; The climbing mechanism climbs along the axial direction of the dynamic component until the buffer unit moves to the top flange of the dynamic component; The slewing mechanism drives the supporting mechanism to rotate so that the supporting mechanism and the dynamic component are aligned, and the lifting mechanism drives the supporting mechanism to rise until the supporting mechanism supports the static component and the supporting mechanism and the static component are aligned and connected; The heave compensation unit performs heave compensation on the static component according to the heave state of the bearing mechanism, so that the static component and the bearing mechanism are relatively stationary, and the lifting mechanism drives the bearing mechanism and the static component to descend synchronously until the flanges of the static component and the dynamic component are butt-jointed and installed together.

7. The static-to-dynamic docking method according to claim 6, It is characterized in that The heave compensation unit performs heave compensation on the static component according to the heave state of the bearing mechanism so that the static component and the bearing mechanism are relatively stationary, which specifically includes the following steps: The heave state of the bearing mechanism is detected, and the moving block is controlled to perform heave compensation, so that the bearing mechanism and the moving block have the same heave displacement.

8. The static-to-dynamic docking method according to claim 6, 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 hanging part, so that the static component can be aligned with the bearing mechanism.

9. The static-to-dynamic docking method according to claim 6, 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.

10. A static-to-dynamic disassembly method, based on the static-to-dynamic loading and unloading tooling according to any one of claims 1 to 5, It is characterized in that The steps include: The heave compensation unit is connected between the lifting device and the static component, and the buffer unit is slidably mounted on the periphery of the dynamic component; The climbing mechanism climbs along the axial direction of the dynamic component until the buffer unit moves to the top flange of the dynamic component; The lifting mechanism drives the bearing mechanism to rise until the bearing mechanism supports the static component and the bearing mechanism and the static component are connected in a center, and the connecting bolts between the dynamic component and the static component are removed; The heave compensation unit performs heave compensation on the static component according to the heave state of the bearing mechanism, so that the static component and the bearing mechanism are relatively stationary, and the static component is driven to move upward by the lifting mechanism until the lifting device lifts and removes the static component.

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