Immersion deviation rectifying and unlocking system and method for offshore wind power barrel type foundation

Abstract

The invention discloses a sinking deviation rectifying and unlocking system for an offshore wind power barrel type foundation. The sinking deviation rectifying and unlocking system comprises four sinking guiding devices, four sinking deviation rectifying and unlocking devices, a sinking monitoring system and a control system. Each sinking guide device comprises a hydraulic cylinder A, a guide pipe and a guide sleeve in sliding fit with the guide pipe; each sinking deviation correction unlocking device comprises an upper bolt connecting structure, a lower bolt connecting structure and a strip-shaped connecting device which is flexibly connected with the upper bolt connecting structure and the lower bolt connecting structure; the sinking monitoring system is used for monitoring the states of the barrel type foundation, the sinking guide device and the sinking deviation correction unlocking device in the sinking process; the control system is used for receiving detection information from the sinking monitoring system, sending a signal to control the work of the hydraulic cylinder A according to current detection data, and adjusting the expansion amount of a piston rod of the hydraulic cylinder A, so that the inclination angle of the barrel-shaped foundation in the sinking process is less than or equal to the allowable maximum inclination angle; the structure is simple, operation is convenient, and large-angle inclination of the barrel type foundation in the sinking process can be prevented.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power, and in particular to a system and method for sinking, correcting, and unlocking offshore wind turbine cylindrical foundations. Background Technology

[0002] Currently, offshore wind power, as a clean and renewable energy source, has experienced rapid development globally in recent years. Offshore wind turbine cylindrical foundations have become an important foundational structure in the offshore wind power sector due to their advantages such as good stability, short construction period, and low cost. A cylindrical foundation typically consists of multiple circular cylinders, fixed to the seabed by connecting bolts and jacket structures, providing stable support for the offshore wind turbine.

[0003] Significant progress has been made in the installation technology of offshore wind turbine cylindrical foundations. For example, application number 202210380274.2 discloses an integrated vessel and installation method for transporting and installing offshore wind turbine cylindrical foundations in deep water, effectively solving the challenges of transporting and installing deep-water cylindrical foundations. This integrated vessel, through optimized design, combines transportation and installation functions, not only improving construction efficiency and reducing construction costs, but also ensuring the safety of the cylindrical foundation during transportation by a multi-aircraft floating installation vessel.

[0004] However, despite significant advancements in the transportation and installation of cylindrical foundations, numerous challenges remain during the foundation placement process. Particularly in the post-placement adjustment and unlocking phase by the multi-aircraft floating installation vessel, traditional methods struggle to achieve precise positioning and stable sinking. In complex sea conditions, cylindrical foundations are prone to tilting or shifting, leading to low installation efficiency and increased construction costs. These issues not only affect the construction progress of offshore wind power projects but may also adversely impact the long-term operational stability of wind turbine units.

[0005] Furthermore, existing sinking and unlocking technologies are insufficient in adaptability to different geological conditions and sea states. For example, in deep water areas or on soft soil foundations, the sinking process of the cylindrical foundation requires more precise control to avoid foundation tilting or uneven settlement due to unstable geological conditions. At the same time, the safety and reliability of the unlocking process are also critical issues, especially under adverse weather and sea conditions. Ensuring the smooth separation of the cylindrical foundation from the guide pipe is a technical challenge that urgently needs to be solved.

[0006] During the installation of offshore wind turbine cylindrical foundations, especially in the unlocking stage after the cylindrical foundation has been sunk into place by a multi-aircraft floating platform, traditional methods often fail to achieve precise positioning and stable sinking. Summary of the Invention

[0007] This invention provides a system and method for sinking, correcting, and unlocking offshore wind turbine cylindrical foundations to solve the technical problems existing in the prior art.

[0008] The technical solution adopted by this invention to solve the technical problems existing in the prior art is as follows:

[0009] A sinking, correction, and unlocking system for an offshore wind turbine cylindrical foundation includes a cylindrical foundation for supporting the wind turbine equipment and a floating installation vessel for transporting and installing the wind turbine equipment. The cylindrical foundation includes a honeycomb-shaped compartmentalized structure with an internal negative pressure pipeline system. By inflating and deflating the negative pressure pipeline system, the cylindrical foundation can float and sink under negative pressure. The system also includes four sinking guide devices, four sinking, correction, and unlocking devices, a sinking monitoring system, and a control system. The sinking guide devices and the sinking, correction, and unlocking devices are vertically aligned.

[0010] Each sinking guide device includes a hydraulic cylinder A, a guide tube, and a guide sleeve that slides with the guide tube; the piston rod of the hydraulic cylinder A is connected to the upper end of the guide tube; the lower end of the guide tube is connected to the sinking correction and unlocking device; the hydraulic cylinder A is equipped with a back pressure circuit.

[0011] Each sinking correction and unlocking device includes an upper pin connection structure, a lower pin connection structure, and a strip connection device that is flexibly connected to both.

[0012] The upper pin connection structure includes a U-shaped lug and a pin A. Both lugs of the U-shaped lug have pin holes A, and the lower end of the guide tube has a pin hole B. The lower end of the guide tube extends into the upper opening of the U-shaped lug. After the pin A passes through the pin holes A and B, its two ends are restricted from axial movement.

[0013] The lower pin connection structure includes a pin B, a telescopic device with a telescopic rod, and a set of double lifting lugs fixed to the cylindrical foundation; both lifting lugs are provided with pin holes C; one end of the pin B is flexibly connected to the end of the telescopic rod, and the other end is inserted into the pin hole C of the double lifting lugs.

[0014] The four sets of double lifting lugs are located on two straight lines that are perpendicular to each other and pass through the center of the cylindrical foundation. The two sets of double lifting lugs located on the same straight line are symmetrically distributed with respect to the center of the cylindrical foundation.

[0015] One end of the strip connecting device is connected to the lower part of the U-shaped lifting lug, and the other end is connected to the pin B, with the connection point located between a set of double lifting lugs;

[0016] The immersion monitoring system is used to monitor the status of the cylindrical foundation, immersion guide device, and immersion correction and unlocking device during the immersion process. The immersion monitoring system includes an attitude detection sensor for monitoring the attitude of the cylindrical foundation, a displacement sensor for monitoring the extension and retraction of the piston rod of hydraulic cylinder A, and a tension detection device for detecting the tension of the strip connecting device.

[0017] The control system receives detection information from the sinking monitoring system. Based on the current detection data, it sends a signal to control the operation of hydraulic cylinder A and adjusts the extension and retraction of the piston rod of hydraulic cylinder A, thereby ensuring that the tilt angle of the cylindrical foundation during the sinking process is less than or equal to the maximum allowable tilt angle.

[0018] The control system, guide sleeve, and cylinder barrel of hydraulic cylinder A are installed on the floating installation vessel; the fixed part of the telescopic device is installed on the cylindrical foundation.

[0019] Furthermore, the strip connection device includes a lifting belt, one end of which is provided with a lifting ring that fits into the lower part of the U-shaped lifting lug, and the other end is provided with a lifting ring that fits into the pin B or a pin hole.

[0020] Furthermore, the lifting sling may employ one or more of the following devices: wire rope, synthetic fiber lifting sling, or lifting chain.

[0021] Furthermore, the tension detection device includes a pressure sensor; the pressure sensor is mounted on the surface of pin A, which is in contact with the strip connecting device.

[0022] Furthermore, the telescopic device includes a hydraulic cylinder B or an electric cylinder; the piston rod of the hydraulic cylinder B or the telescopic rod end face of the electric cylinder is flexibly connected to the end face of the pin B.

[0023] Furthermore, at least one end of the pin A is threaded, and the axial movement of the pin A is restricted by locking the threaded end with a nut.

[0024] Furthermore, the floating installation vessel includes a U-shaped hull and a K-shaped hull. The open end of the U-shaped hull and the two ends of the K-shaped hull can be detachably connected to form a quadrilateral frame hull with arc-shaped inner corners. During floating installation, the cylindrical foundation is located in the quadrilateral frame hull.

[0025] Furthermore, the floating installation vessel also includes hull connecting blocks, locating pins, and a hydraulic cylinder C that drives the hull connecting blocks to move horizontally. The hydraulic cylinder C is installed on the U-shaped hull. On the two sides of the K-shaped hull that connects to the U-shaped hull, there are grooves that open to the U-shaped hull and are inserted into the hull connecting blocks. The piston rod of the hydraulic cylinder C is connected to the hull connecting blocks. The groove walls and the hull connecting blocks both have vertical locating pin holes that cooperate with the locating pins. When the U-shaped hull and the K-shaped hull are connected, the hull connecting blocks are inserted into the grooves at both ends of the K-shaped hull under the drive of the hydraulic cylinder C, and the locating pins are sequentially inserted into the groove walls and the locating pin holes of the hull connecting blocks. When the U-shaped hull and the K-shaped hull are separated, the locating pins are pulled out from the groove walls and the locating pin holes of the hull connecting blocks, and the hull connecting blocks are withdrawn from the grooves at both ends of the K-shaped hull under the drive of the hydraulic cylinder C.

[0026] Furthermore, the cylindrical foundation is a five-tube cylindrical foundation, which includes a central tube and four planetary tubes evenly distributed around the central tube. The four planetary tubes are partially embedded in the central tube; four sinking correction and unlocking devices are located on the four planetary tubes.

[0027] The present invention also provides a method for sinking, correcting, and unlocking offshore wind turbine cylindrical foundations using the above-mentioned offshore wind turbine cylindrical foundation sinking, correcting, and unlocking system, comprising the following steps:

[0028] Secure the guide tube to the piston rod of hydraulic cylinder A; connect one end of the strip connecting device to the lower part of the U-shaped lifting lug;

[0029] The lower end of the guide tube is inserted into the upper opening of the U-shaped lifting lug, so that the pin A passes through pin hole A and pin hole B and its two ends are restricted from axial movement.

[0030] Position the other end of the strip connecting device between the two lifting lugs; flexibly connect one end of pin B to the end of the telescopic rod of the telescopic device, and insert the other end into the pin hole C of the two lifting lugs and connect it to the other end of the strip connecting device; at this time, the telescopic rod of the telescopic device is in the extended state.

[0031] Adjust the piston rod extension of hydraulic cylinder A to make the strip connecting device tensioned and the upper surface of the cylindrical base parallel to the horizontal plane;

[0032] The cylindrical foundation is vented to allow it to sink; the back pressure circuit of hydraulic cylinder A is controlled so that the piston rod of hydraulic cylinder A is passively pulled downward by the belt connection device.

[0033] During the sinking process, the sinking monitoring system monitors the attitude of the cylindrical foundation, the extension and retraction of the piston rod of hydraulic cylinder A, and the tension of the strip connecting device in real time; and sends the monitoring data to the control system.

[0034] The control system adjusts the back pressure of hydraulic cylinder A based on the tension monitoring value of the belt connecting device;

[0035] Suppose that four sets of double lifting lugs are located on straight lines A and B passing through the center of the cylindrical foundation; if the cylindrical foundation is detected to be tilted, the control system processes the attitude data of the cylindrical foundation to obtain the tilt angle of straight lines A and B; then sends a signal to control the back pressure of hydraulic cylinder A to adjust the extension and retraction of the piston rod of the corresponding hydraulic cylinder A, thereby correcting the tilt angle of the cylindrical foundation.

[0036] After the top surface of the cylindrical foundation reaches the mud surface depth, and after confirming that the tension monitoring values ​​of the four strip connecting devices are all less than the set minimum value, the telescopic rod of the telescopic device is retracted, thereby driving the pin B to exit from the pin hole C of the double lifting lug.

[0037] After pin B is withdrawn, the piston rod of hydraulic cylinder A retracts and resets; the lowering of the fan equipment is completed.

[0038] The advantages and positive effects of this invention are as follows: This invention sets up four sinking guide devices, four sinking correction and unlocking devices, a sinking monitoring system, and a control system. The sinking guide devices are equipped with hydraulic cylinder A, a guide tube, and a guide sleeve that slides with the guide tube. The sinking correction and unlocking devices are equipped with an upper pin connection structure, a lower pin connection structure, and a strip-shaped connecting device that flexibly connects the two. This guides the sinking direction of the cylindrical foundation. The strip-shaped connecting device provides auxiliary constraints on the torsional angle and horizontal displacement of the cylindrical foundation. Furthermore, by adjusting the extension and retraction of the piston rod of hydraulic cylinder A, not only is the vertical tilt of the cylindrical foundation adjusted, but the torsional angle and horizontal displacement of the cylindrical foundation are also corrected.

[0039] The lower pin connection structure of each sinking correction and unlocking device, through the setting of pin B, telescopic device with telescopic rod and a set of double lifting lugs fixed to the cylindrical foundation, can prevent pin B from falling off during sinking, ensuring the stability of the cylindrical foundation during sinking. Moreover, after sinking is completed, the sinking guide device is automatically disengaged, and most of the devices used for sinking can be automatically recovered, which is convenient for subsequent recycling.

[0040] This invention features a simple structure and convenient operation, effectively preventing accidental tilting of the cylindrical foundation during the sinking process. It not only solves the tilting problem that easily occurs during the sinking of cylindrical foundations in existing technologies, but also improves the efficiency and safety of offshore wind turbine cylindrical foundation installation. Attached Figure Description

[0041] Figure 1 This is a structural diagram of an offshore wind turbine cylindrical foundation and a floating installation vessel.

[0042] Figure 2 This is a schematic diagram of the sinking, correction, and unlocking system for a cylindrical foundation of an offshore wind turbine according to the present invention.

[0043] In the diagram: 1. Blade; 2. Tower; 3. Jacket frame; 4. Five-tube cylindrical foundation; 5. Guide pipe; 6. Guide sleeve; 7. Reinforcing rib; 8. Pin A; 9. Tongue-shaped connecting plate; 10. U-shaped lifting lug; 11. Strip connecting device; 12. Double lifting lug; 13. Pin B. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0045] In the description of this invention, the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected" and "linked" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a direct connection or an indirect connection through intermediate components; or an electrical connection or signal transmission. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0046] Please see Figures 1 to 2 A sinking, correction, and unlocking system for a cylindrical foundation for offshore wind power includes a cylindrical foundation for supporting wind power equipment and a floating installation vessel for floating and installing the wind power equipment. The cylindrical foundation includes a honeycomb-shaped compartmentalized structure with an internal negative pressure pipeline system. By inflating and deflating the negative pressure pipeline system, the cylindrical foundation can float and sink under negative pressure. The system also includes four sinking guide devices, four sinking, correction, and unlocking devices, a sinking monitoring system, and a control system. The sinking guide devices and the sinking, correction, and unlocking devices are vertically aligned.

[0047] Each sinking guide device includes a hydraulic cylinder A, a guide tube 5, and a guide sleeve 6 that slides with the guide tube 5; the piston rod of the hydraulic cylinder A is connected to the upper end of the guide tube 5; the lower end of the guide tube 5 is connected to the sinking correction and unlocking device, and the hydraulic cylinder A is equipped with a back pressure circuit.

[0048] Each sinking correction and unlocking device includes an upper pin connection structure, a lower pin connection structure, and a strip connection device 11 that is flexibly connected to both.

[0049] The upper pin connection structure includes a U-shaped lug 10 and a pin A8. Both lugs of the U-shaped lug 10 have pin holes A, and the lower end of the guide tube 5 has a pin hole B. The lower end of the guide tube 5 extends into the upper opening of the U-shaped lug 10. After the pin A8 passes through the pin holes A and B, its two ends are restricted from axial movement.

[0050] The lower pin connection structure includes a pin B13, a telescopic device with a telescopic rod, and a set of double lifting lugs 12 fixed to the cylindrical foundation; both lifting lugs 12 are provided with pin holes C; one end of the pin B13 is flexibly connected to the end of the telescopic rod, and the other end is inserted into the pin hole C of the double lifting lugs 12.

[0051] The four sets of double lugs 12 are located on two straight lines that are perpendicular to each other and pass through the center of the cylindrical foundation. The two sets of double lugs 12 located on the same straight line are symmetrically distributed with respect to the center of the cylindrical foundation.

[0052] One end of the strip connecting device 11 is connected to the lower part of the U-shaped lug 10, and the other end is connected to the pin B13, with the connection point located between a set of double lugs 12.

[0053] The immersion monitoring system is used to monitor the status of the cylindrical foundation, immersion guide device and immersion correction unlocking device during the immersion process; the immersion monitoring system includes an attitude detection sensor for monitoring the attitude of the cylindrical foundation, a displacement sensor for monitoring the extension and retraction of the piston rod of hydraulic cylinder A and a tension detection device for detecting the tension of the strip connecting device 11.

[0054] The control system receives detection information from the sinking monitoring system. Based on the current detection data, it sends a signal to control the operation of hydraulic cylinder A, adjusting the extension and retraction of the piston rod of hydraulic cylinder A, thereby ensuring that the tilt angle of the cylindrical foundation during the sinking process is less than or equal to the maximum allowable tilt angle.

[0055] The control system, guide sleeve 6, and cylinder barrel of hydraulic cylinder A are installed on the floating installation vessel; the fixed part of the telescopic device is installed on the cylindrical foundation.

[0056] The lower end of the guide tube 5 can be welded with a connecting block or a tongue-shaped connecting plate 9. A pin hole B is opened on the connecting block or tongue-shaped connecting plate 9, and a reinforcing rib 7 can be welded on the tongue-shaped connecting plate 9.

[0057] One end of pin B13 is flexibly connected to the end of the telescopic rod of the telescopic device. The flexible connection can be made using flexible sleeve connection, flexible flange connection, or other flexible connection methods, allowing the end face of pin B13 and the end face of the telescopic rod to move slightly up and down relative to each other. The flexible connection can absorb the shear force generated relative to the end face of the telescopic rod due to the force applied to pin B13 by the strip connecting device 11.

[0058] Alternatively, the connecting surface between pin B13 and the end of the telescopic rod of the telescopic device can be enlarged, so that the diameter of this end face of pin B13 is larger than the diameter of pin hole C and larger than the diameter of the end of the telescopic rod of the telescopic device. This ensures that when the center of the end faces of pin B13 and the telescopic rod of the telescopic device shifts, the end of the telescopic rod of the telescopic device is still within the range of this end face of pin B13.

[0059] The strip connecting device 11 is a flexible connection, allowing the cylindrical foundation to sway with the waves. The maximum sway angle of the cylindrical foundation is limited by the length of the swaying part of the strip connecting device 11 and the spacing between the two sets of double lugs 12 located on the same straight line. The spacing between the two sets of double lugs 12 located on the same straight line can be calculated by subtracting a certain value from the maximum horizontal dimension of the cylindrical foundation. Therefore, the maximum swaying length can be calculated based on the maximum horizontal dimension of the cylindrical foundation and the maximum allowable sway angle.

[0060] When a cylindrical foundation sways with the waves, it can twist around its center. The angle of twist is limited by the length of the swaying portion of the strip connecting device 11. The maximum angle of twist can be calculated by the distance between the two sets of double lugs 12 located on the same straight line and the length of the maximum swaying portion.

[0061] When the piston rod of hydraulic cylinder A falls due to the gravity generated by the guide tube 5, the ribbon connecting device 11, and the cylindrical foundation, a hydraulic balance circuit is required. The hydraulic balance circuit is designed to ensure that the vertical hydraulic cylinder and its associated working parts do not fall due to their own weight, or experience unstable behavior such as stalling due to uncontrolled weight during descent. To achieve this, an appropriate back pressure value needs to be set in the return oil circuit of the actuator to balance the gravitational load. By adjusting the opening pressure of the sequence valve, it can be ensured that the upward hydraulic force of the hydraulic cylinder is slightly greater than the weight of the vertically moving parts, thus effectively preventing the piston parts from sliding down due to their own weight.

[0062] In hydraulic systems, back pressure refers to the reverse pressure generated by the resistance of a hydraulic cylinder or hydraulic power component. The effect of back pressure can be achieved by controlling the opening and closing of a check valve, thereby ensuring stable operation of the hydraulic system under different working conditions.

[0063] In a hydraulic system, a back pressure valve is installed in the return oil line to dampen the piston movement, prevent the piston from moving too fast, make the system run more stably, and eliminate vibration. If the cylinder is placed vertically, it can also help to balance gravity.

[0064] The back pressure valve is a micro-opening valve. In some pipeline systems that require constant pressure, a back pressure valve can be installed on the pipeline bypass. When the pressure is higher than the required pressure, the back pressure valve automatically releases pressure and automatically closes when the pressure drops to the set pressure, thereby achieving a constant pressure effect.

[0065] The back pressure regulating circuit can be set up with two parallel circuits, and the two parallel circuits can independently control the back pressure of the hydraulic cylinder under the control of the control valve.

[0066] One of the back pressure regulating circuits can be equipped with a self-regulating pressure regulating valve and a back pressure regulator. Both the self-regulating pressure regulating valve and the back pressure regulator automatically regulate the pressure using the principle of mechanical balance. When the tilt angle of the cylindrical foundation is within the allowable range, this circuit can be connected to the back pressure oil circuit of hydraulic cylinder A, thus disconnecting the other circuit.

[0067] The other back pressure regulating circuit is an electrically controlled pressure regulating circuit. This circuit can be equipped with an electro-hydraulic proportional relief valve, enabling continuous pressure regulation. It features a simple oil circuit and smooth pressure conversion. The proportional relief valve pressure regulating circuit supports remote program control. When the tilt angle of the cylindrical foundation exceeds the allowable range, this circuit can be connected to the back pressure oil circuit of hydraulic cylinder A, disconnecting the other circuit. Control signals can be sent to the electro-hydraulic proportional relief valve to increase or decrease the pressure in this circuit, thereby moving the piston rod up and down.

[0068] The sinking guide device is used to guide the sinking direction of the cylindrical foundation; it guides the descent direction of the cylindrical foundation by setting a guide pipe 5 and a guide sleeve 6 that slides with the guide pipe 5.

[0069] The sinking correction and unlocking device is used to limit the tilt angle and torsion angle of the cylindrical foundation during the sinking process. It provides auxiliary constraints on the lateral sway, torsion and horizontal displacement of the cylindrical foundation through the strip connecting device 11. By adjusting the extension and retraction of the piston rod of the hydraulic cylinder A, it not only adjusts the vertical tilt of the cylindrical foundation, but also corrects the lateral sway angle and displacement of the cylindrical foundation.

[0070] Preferably, the strip connecting device 11 may include a lifting belt, one end of which is provided with a lifting ring that fits into the lower part of the U-shaped lifting lug 10, and the other end is provided with a lifting ring that fits into the pin B13 or a pin hole.

[0071] Preferably, the lifting sling can be one or more of the following devices: wire rope, synthetic fiber lifting sling, or lifting chain.

[0072] Preferably, the tension detection device may include a pressure sensor; the pressure sensor is mounted on the surface of the pin A8 that contacts the strip connecting device 11. The strip connecting device 11 is connected to the surface of the pin A8, and when the strip connecting device 11 is in a tensioned state, it applies pressure to the surface of the pin A8. The tension of the strip connecting device 11 can be monitored by monitoring the pressure received on the surface of the pin A8.

[0073] Preferably, the attitude detection sensor can be composed of a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, and its output is three-dimensional attitude data of the cylindrical base.

[0074] Preferably, the displacement sensor used to monitor the extension and retraction of the piston rod of hydraulic cylinder A can be a magnetostrictive sensor. A magnetostrictive sensor is a non-contact displacement measurement device based on the magnetostrictive effect, which determines the displacement value of the measured object by detecting the absolute position of a movable magnetic ring. Its core components include a waveguide and a magnetic ring. It utilizes the interaction between a current pulse and a magnetic field to generate a strain mechanical wave, and achieves high-precision measurement by calculating the pulse transmission time. This sensor is widely used in hydraulic cylinder piston positioning.

[0075] Preferably, the telescopic device may include a hydraulic cylinder B or an electric cylinder; the piston rod of the hydraulic cylinder B or the telescopic rod end face of the electric cylinder is flexibly connected to the end face of the pin B13. The hydraulic cylinder B may be a self-closing, pump-free, double-rod hydraulic cylinder; the double-rod hydraulic cylinder has piston rods on both sides of the piston, the left and right chambers of the piston are connected and both are supplied with pressurized oil, and the pressure difference between the left and right chambers can be controlled by valves such as electric valves and pressure relief valves on one side, thereby enabling the piston rods on both sides to move in one direction. The hydraulic cylinder B is a waterproof hydraulic cylinder, and the electric cylinder is a waterproof electric cylinder.

[0076] Preferably, at least one end of the pin A8 may be threaded, and the axial movement of the pin A8 can be restricted by locking the threaded end with a nut. The pin A8 can be a single-ended or double-ended bolt, with the threaded end tightened with a nut, and the nut is prevented from loosening by a rubber washer or the like.

[0077] Preferably, the floating installation vessel may include a U-shaped hull and a K-shaped hull. The open end of the U-shaped hull is detachably connected to both ends of the K-shaped hull to form a quadrilateral frame hull with arc-shaped inner corners. During floating installation, the cylindrical foundation is located in the quadrilateral frame hull.

[0078] After the cylindrical foundation is laid, the U-shaped hull and K-shaped hull can be separated and sailed away from the cylindrical foundation.

[0079] Preferably, the floating installation vessel may further include hull connecting blocks, positioning pins, and a hydraulic cylinder C for driving the hull connecting blocks to move horizontally. The hydraulic cylinder C is mounted on the U-shaped hull. On the two sides of the K-shaped hull connected to the U-shaped hull, there are grooves that open to the U-shaped hull and engage with the hull connecting blocks. The piston rod of the hydraulic cylinder C is connected to the hull connecting blocks. The groove walls and the hull connecting blocks both have vertical positioning pin holes that engage with the positioning pins. When the U-shaped hull and the K-shaped hull are connected, the hull connecting blocks are inserted into the grooves at both ends of the K-shaped hull under the drive of the hydraulic cylinder C, and the positioning pins are sequentially inserted into the groove walls and the positioning pin holes of the hull connecting blocks. When the U-shaped hull and the K-shaped hull are separated, the positioning pins are pulled out from the groove walls and the positioning pin holes of the hull connecting blocks, and the hull connecting blocks are withdrawn from the grooves at both ends of the K-shaped hull under the drive of the hydraulic cylinder C.

[0080] Preferably, the cylindrical foundation can be a five-tube cylindrical foundation 4, which may include a central tube and four planetary tubes evenly distributed around the central tube, with the four planetary tubes partially embedded in the central tube; four sinking correction and unlocking devices are located on the four planetary tubes. The five-tube cylindrical foundation 4 facilitates separate venting and the installation of sinking guide devices and sinking correction and unlocking devices, and also contributes to the stability of wind power equipment.

[0081] The present invention also provides a method for sinking, correcting, and unlocking offshore wind turbine cylindrical foundations using the above-mentioned offshore wind turbine cylindrical foundation sinking, correcting, and unlocking system, comprising the following steps:

[0082] The guide tube 5 is fixedly connected to the piston rod of the hydraulic cylinder A; one end of the strip connecting device 11 is connected to the lower part of the U-shaped lifting lug 10.

[0083] The lower end of the guide tube 5 is inserted into the upper opening of the U-shaped lug 10, and the pin A8 is restricted from axial movement at both ends after passing through the pin hole A and the pin hole B.

[0084] Position the other end of the strip connecting device 11 between the double lugs 12; flexibly connect one end of the pin B13 to the end of the telescopic rod of the telescopic device, and insert the other end into the pin hole C of the double lugs 12 and connect it to the other end of the strip connecting device 11; at this time, the telescopic rod of the telescopic device is in the extended state.

[0085] Adjust the piston rod extension of hydraulic cylinder A so that the strip connecting device 11 is in a tensioned state and the upper surface of the cylindrical base is parallel to the horizontal plane;

[0086] The cylindrical foundation is vented to allow it to sink; the back pressure circuit of hydraulic cylinder A is controlled so that the piston rod of hydraulic cylinder A is passively pulled downward by the belt connecting device 11.

[0087] During the sinking process, the sinking monitoring system monitors the attitude of the cylindrical foundation, the extension and retraction of the piston rod of hydraulic cylinder A, and the tension of the strip connecting device 11 in real time; and sends the monitoring data to the control system.

[0088] The control system adjusts the back pressure of hydraulic cylinder A based on the tension monitoring value of the belt connecting device 11;

[0089] Suppose that four sets of double lifting lugs 12 are located on straight lines A and B passing through the center of the cylindrical foundation; if the cylindrical foundation is detected to be tilted, the control system processes the attitude data of the cylindrical foundation to obtain the tilt angle of straight lines A and B; then sends a signal to control the back pressure of hydraulic cylinder A to adjust the extension and retraction of the piston rod of the corresponding hydraulic cylinder A, thereby correcting the tilt angle of the cylindrical foundation.

[0090] After the top surface of the cylindrical foundation reaches the mud surface depth, and after confirming that the tension monitoring values ​​of the four strip connecting devices 11 are all less than the set minimum value, the telescopic rod of the telescopic device is retracted, thereby driving the pin B13 to exit from the pin hole C of the double lifting lug 12.

[0091] After pin B13 is withdrawn, the piston rod of hydraulic cylinder A retracts and resets; the lowering of the fan equipment is completed.

[0092] The workflow and working principle of the present invention will be further described below with reference to preferred embodiments:

[0093] During the installation of offshore wind turbine cylindrical foundations, especially in the unlocking stage after the foundation has been placed into position by a multi-aircraft floating platform, traditional methods often struggle to achieve precise positioning and stable sinking. In complex sea conditions, the cylindrical foundation is prone to tilting or shifting, leading to low installation efficiency and increased construction costs. To address this issue, this invention proposes a sinking correction and unlocking system and method for offshore wind turbine cylindrical foundations.

[0094] A sinking, correction, and unlocking system for a cylindrical foundation for offshore wind power includes a cylindrical foundation for supporting wind power equipment and a floating installation vessel for floating and installing the wind power equipment. The cylindrical foundation includes a honeycomb-shaped compartmentalized structure with an internal negative pressure pipeline system. By inflating and deflating the negative pressure pipeline system, the cylindrical foundation can float and sink under negative pressure. The system also includes four sinking guide devices, four sinking, correction, and unlocking devices, a sinking monitoring system, and a control system. The sinking guide devices and the sinking, correction, and unlocking devices are vertically aligned.

[0095] Each sinking guide device includes a hydraulic cylinder A, a guide tube 5, and a guide sleeve 6 that slides with the guide tube 5; the piston rod of the hydraulic cylinder A is connected to the upper end of the guide tube 5; the lower end of the guide tube 5 is connected to the sinking correction and unlocking device, and the hydraulic cylinder A is equipped with a back pressure circuit.

[0096] Each sinking correction and unlocking device includes an upper pin connection structure, a lower pin connection structure, and a strip connection device 11 that is flexibly connected to both.

[0097] The upper pin connection structure includes a U-shaped lug 10 and a pin A8. Both lugs of the U-shaped lug 10 have pin holes A, and the lower end of the guide tube 5 has a pin hole B. The lower end of the guide tube 5 extends into the upper opening of the U-shaped lug 10. After the pin A8 passes through the pin holes A and B, its two ends are restricted from axial movement.

[0098] The lower pin connection structure includes a pin B13, a telescopic device with a telescopic rod, and a set of double lifting lugs 12 fixed to the cylindrical foundation; each of the double lifting lugs 12 is provided with a pin hole C; one end of the pin B13 is flexibly connected to the end of the telescopic rod, and the other end is inserted into the pin hole C of the double lifting lug 12. The pin A8 is made of bolt.

[0099] The four sets of double lugs 12 are located on two straight lines that are perpendicular to each other and pass through the center of the cylindrical foundation. The two sets of double lugs 12 located on the same straight line are symmetrically distributed with respect to the center of the cylindrical foundation.

[0100] One end of the strip connecting device 11 is connected to the lower part of the U-shaped lug 10, and the other end is connected to the pin B13, with the connection point located between a set of double lugs 12.

[0101] The immersion monitoring system is used to monitor the status of the cylindrical foundation, immersion guide device and immersion correction unlocking device during the immersion process; the immersion monitoring system includes an attitude detection sensor for monitoring the attitude of the cylindrical foundation, a displacement sensor for monitoring the extension and retraction of the piston rod of hydraulic cylinder A and a tension detection device for detecting the tension of the strip connecting device 11.

[0102] The control system receives detection information from the sinking monitoring system. Based on the current detection data, it sends a signal to control the operation of hydraulic cylinder A, adjusting the extension and retraction of the piston rod of hydraulic cylinder A, thereby ensuring that the tilt angle of the cylindrical foundation during the sinking process is less than or equal to the maximum allowable tilt angle.

[0103] The control system, guide sleeve 6, and cylinder barrel of hydraulic cylinder A are installed on the floating installation vessel; the fixed part of the telescopic device is installed on the cylindrical foundation.

[0104] The belt-shaped connecting device 11 includes a lifting belt, one end of which is provided with a lifting ring that is sleeved with the lower part of the U-shaped lifting lug 10, and the other end is provided with a lifting ring that is sleeved with the pin B13.

[0105] The tension detection device includes a pressure sensor; the pressure sensor is mounted on the surface of the pin A8 that contacts the strip connecting device 11.

[0106] The telescopic device includes an electric cylinder; the end face of the telescopic rod of the electric cylinder is flexibly connected to the end face of the pin B13. The electric cylinder is powered by a battery, and the electrical signal is transmitted wirelessly via WIFI or other means to control the battery power supply.

[0107] The floating installation vessel includes a U-shaped hull and a K-shaped hull. The open end of the U-shaped hull and the two ends of the K-shaped hull can be detachably connected to form a quadrilateral frame hull with arc-shaped inner corners. During floating installation, the cylindrical foundation is located in the quadrilateral frame hull.

[0108] The floating installation vessel also includes hull connecting blocks, locating pins, and hydraulic cylinders C that drive the hull connecting blocks to move horizontally. Hydraulic cylinder C is mounted on the U-shaped hull. On the sides of both ends of the K-shaped hull that connects to the U-shaped hull, grooves are formed that open towards the U-shaped hull and engage with the hull connecting blocks. The piston rod of hydraulic cylinder C is connected to the hull connecting blocks. The groove walls and the hull connecting blocks both have vertically oriented locating pin holes that engage with the locating pins. When the U-shaped and K-shaped hulls are connected, the hull connecting blocks are inserted into the grooves at both ends of the K-shaped hull under the drive of hydraulic cylinder C, and the locating pins are sequentially inserted into the groove walls and the locating pin holes of the hull connecting blocks. When the U-shaped and K-shaped hulls are separated, the locating pins are pulled out from the groove walls and the locating pin holes of the hull connecting blocks, and the hull connecting blocks are withdrawn from the grooves at both ends of the K-shaped hull under the drive of hydraulic cylinder C.

[0109] The cylindrical foundation is a five-tube cylindrical foundation 4, which includes a central tube and four planetary tubes evenly distributed around the central tube. The four planetary tubes are partially embedded in the central tube; four sinking correction and unlocking devices are located on the four planetary tubes.

[0110] The present invention also provides a method for sinking, correcting and unlocking offshore wind turbine cylindrical foundations using the above-mentioned sinking, correcting and unlocking system. Through the coordinated action of four sinking guide devices, four sinking, correcting and unlocking devices, sinking monitoring system and control system, the precise sinking and unlocking of the cylindrical foundation is achieved.

[0111] The core of this invention lies in enabling a multi-machine floating platform to guide the lowering of a five-tube cylindrical foundation 4 via a guide pipe 5. As the cylindrical foundation sinks into the mud, the tension provided by the strip connecting device 11 decreases with the increasing depth of the foundation's descent. When the cylindrical foundation is fully submerged, the tension provided by the strip connecting device 11 is zero, at which point the rigid pin can be pulled out to unlock the system. Specifically, this is achieved through the following steps:

[0112] First, a satellite positioning system is used to precisely navigate the multi-aircraft floating transport platform to the target sea area. The satellite positioning system can provide high-precision geographic coordinates.

[0113] Secondly, the hull connecting blocks are inserted into the grooves at both ends of the K-shaped hull under the drive of hydraulic cylinder C, and the locating pins are sequentially inserted into the groove walls and the locating pin holes of the hull connecting blocks. This process is similar to opening a huge "door," creating conditions for the sinking of the cylindrical foundation.

[0114] Next, the U-shaped guide pipe 5 is delivered via a sinking hydraulic cylinder to slowly lower the cylindrical foundation. During the sinking process, high-precision attitude monitoring sensors monitor the attitude data of the cylindrical foundation in real time, including key parameters such as tilt angle and horizontal offset. If the tilt angle of the cylindrical foundation exceeds the preset safety range, the extension and retraction of a certain sinking hydraulic cylinder is finely adjusted, thereby changing the tension provided by a certain strip connecting device 11. By changing the difference between the tension of the strip connecting device 11 and the buoyancy of the seawater, the torque applied to the cylindrical foundation by the strip connecting device 11 achieves dynamic correction, ensuring the stability of the sinking process.

[0115] After the five-tube cylindrical foundation 4 was installed in the seawater cement, it was leveled by vacuum pressure, at which point the five-tube cylindrical foundation 4 was completely settled.

[0116] After the top surface of the cylindrical foundation reaches the mud surface depth, and after confirming that the tension monitoring values ​​of the four strip connecting devices 11 are all less than the set minimum value, the telescopic rod of the telescopic device is retracted, thereby driving the pin B13 to exit from the pin hole C of the double lifting lug 12.

[0117] After pin B13 is withdrawn, the piston rod of hydraulic cylinder A retracts and resets; the lowering of the fan equipment is completed.

[0118] The floating platform is moved to the next work site in preparation for the next operation.

[0119] The aforementioned blades 11, tower 22, jacket frame 33, five-tube cylindrical foundation 44, control system, guide pipe 5, guide sleeve 6, U-shaped lifting lug 10, pin A8, pin B13, telescopic device, double lifting lug 12, displacement sensor, tension detection device, lifting sling, wire rope, synthetic fiber lifting sling, electric cylinder, lifting chain, attitude detection sensor, three-axis gyroscope, three-axis accelerometer, three-axis electronic compass, magnetostrictive sensor, U-shaped hull, K-shaped hull, hull connecting block, positioning pin, hydraulic cylinder A, hydraulic cylinder B, hydraulic cylinder C, etc., can all adopt existing devices and structures, or adopt existing devices and structures and construct them using conventional technical means.

[0120] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The patent scope of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. A sinking, correction, and unlocking system for an offshore wind turbine cylindrical foundation, comprising a cylindrical foundation for supporting wind turbine equipment and a floating installation vessel for floating and installing the wind turbine equipment, the cylindrical foundation comprising a honeycomb-shaped compartmentalized structure with an internal negative pressure pipeline system, wherein the cylindrical foundation is self-floating and sinking under negative pressure by inflating and deflating the negative pressure pipeline system; characterized in that... It also includes four sinking guide devices, four sinking correction and unlocking devices, a sinking monitoring system and a control system; the sinking guide devices and the sinking correction and unlocking devices are vertically aligned. Each sinking guide device includes a hydraulic cylinder A, a guide tube, and a guide sleeve that slides with the guide tube; the piston rod of the hydraulic cylinder A is connected to the upper end of the guide tube; the lower end of the guide tube is connected to the sinking correction and unlocking device; the hydraulic cylinder A is equipped with a back pressure circuit. Each sinking correction and unlocking device includes an upper pin connection structure, a lower pin connection structure, and a strip connection device that is flexibly connected to both. The upper pin connection structure includes a U-shaped lug and a pin A. Both lugs of the U-shaped lug have pin holes A, and the lower end of the guide tube has a pin hole B. The lower end of the guide tube extends into the upper opening of the U-shaped lug. After the pin A passes through the pin holes A and B, its two ends are restricted from axial movement. The lower pin connection structure includes a pin B, a telescopic device with a telescopic rod, and a set of double lifting lugs fixed to the cylindrical foundation; both lifting lugs are provided with pin holes C; one end of the pin B is flexibly connected to the end of the telescopic rod, and the other end is inserted into the pin hole C of the double lifting lugs. The four sets of double lifting lugs are located on two straight lines that are perpendicular to each other and pass through the center of the cylindrical foundation. The two sets of double lifting lugs located on the same straight line are symmetrically distributed with respect to the center of the cylindrical foundation. One end of the strip connecting device is connected to the lower part of the U-shaped lifting lug, and the other end is connected to the pin B, with the connection point located between a set of double lifting lugs; The immersion monitoring system is used to monitor the status of the cylindrical foundation, immersion guide device, and immersion correction and unlocking device during the immersion process. The immersion monitoring system includes an attitude detection sensor for monitoring the attitude of the cylindrical foundation, a displacement sensor for monitoring the extension and retraction of the piston rod of hydraulic cylinder A, and a tension detection device for detecting the tension of the strip connecting device. The control system receives detection information from the sinking monitoring system. Based on the current detection data, it sends a signal to control the operation of hydraulic cylinder A and adjusts the extension and retraction of the piston rod of hydraulic cylinder A, thereby ensuring that the tilt angle of the cylindrical foundation during the sinking process is less than or equal to the maximum allowable tilt angle. The control system, guide sleeve, and cylinder barrel of hydraulic cylinder A are installed on the floating installation vessel; the fixed part of the telescopic device is installed on the cylindrical foundation.

2. The offshore wind turbine cylindrical foundation sinking correction and unlocking system according to claim 1, characterized in that, The belt-shaped connecting device includes a lifting belt, one end of which is provided with a lifting ring that fits into the lower part of the U-shaped lifting lug, and the other end is provided with a lifting ring that fits into pin B or a pin hole.

3. The offshore wind turbine cylindrical foundation sinking correction and unlocking system according to claim 2, characterized in that, Lifting slings may employ one or more of the following devices: wire rope, synthetic fiber lifting slings, or lifting chains.

4. The sinking, correction, and unlocking system for offshore wind turbine cylindrical foundations according to claim 1, characterized in that, The tension detection device includes a pressure sensor; the pressure sensor is mounted on the surface of pin A, which is in contact with the belt connector.

5. The sinking, correction, and unlocking system for offshore wind turbine cylindrical foundations according to claim 1, characterized in that, The telescopic device includes a hydraulic cylinder B or an electric cylinder; the piston rod of the hydraulic cylinder B or the telescopic rod end face of the electric cylinder is flexibly connected to the end face of the pin B.

6. The sinking, correction, and unlocking system for offshore wind turbine cylindrical foundations according to claim 1, characterized in that, The pin A has a thread at least at one end, and the axial movement of the pin A is restricted by locking the threaded end with a nut.

7. The sinking, correction, and unlocking system for offshore wind turbine cylindrical foundations according to claim 1, characterized in that, The floating installation vessel includes a U-shaped hull and a K-shaped hull. The open end of the U-shaped hull and the two ends of the K-shaped hull can be detachably connected to form a quadrilateral frame hull with arc-shaped inner corners. During floating installation, the cylindrical foundation is located in the quadrilateral frame hull.

8. The sinking, correction, and unlocking system for offshore wind turbine cylindrical foundations according to claim 7, characterized in that, The floating installation vessel also includes hull connecting blocks, locating pins, and hydraulic cylinders C that drive the hull connecting blocks to move horizontally. Hydraulic cylinder C is mounted on the U-shaped hull. On the sides of both ends of the K-shaped hull that connects to the U-shaped hull, grooves are formed that open towards the U-shaped hull and engage with the hull connecting blocks. The piston rod of hydraulic cylinder C is connected to the hull connecting blocks. The groove walls and the hull connecting blocks both have vertically oriented locating pin holes that engage with the locating pins. When the U-shaped and K-shaped hulls are connected, the hull connecting blocks are inserted into the grooves at both ends of the K-shaped hull under the drive of hydraulic cylinder C, and the locating pins are sequentially inserted into the groove walls and the locating pin holes of the hull connecting blocks. When the U-shaped and K-shaped hulls are separated, the locating pins are pulled out from the groove walls and the locating pin holes of the hull connecting blocks, and the hull connecting blocks are withdrawn from the grooves at both ends of the K-shaped hull under the drive of hydraulic cylinder C.

9. The sinking, correction, and unlocking system for offshore wind turbine cylindrical foundations according to claim 1, characterized in that, The cylindrical foundation is a five-tube cylindrical foundation, which includes a central tube and four planetary tubes evenly distributed around the central tube. The four planetary tubes are partially embedded in the central tube; four sinking correction and unlocking devices are located on the four planetary tubes.

10. A method for sinking, correcting, and unlocking an offshore wind turbine cylindrical foundation using the sinking, correcting, and unlocking system according to any one of claims 1 to 9, characterized in that, The methods and steps include the following: Secure the guide tube to the piston rod of hydraulic cylinder A; connect one end of the strip connecting device to the lower part of the U-shaped lifting lug; The lower end of the guide tube is inserted into the upper opening of the U-shaped lifting lug, so that the pin A passes through pin hole A and pin hole B and its two ends are restricted from axial movement. Position the other end of the strip connecting device between the two lifting lugs; flexibly connect one end of pin B to the end of the telescopic rod of the telescopic device, and insert the other end into the pin hole C of the two lifting lugs and connect it to the other end of the strip connecting device; at this time, the telescopic rod of the telescopic device is in the extended state. Adjust the piston rod extension of hydraulic cylinder A so that the strip connecting device is in a tensioned state and the upper surface of the cylindrical base is parallel to the horizontal plane; The cylindrical foundation is vented to allow it to sink; the back pressure circuit of hydraulic cylinder A is controlled so that the piston rod of hydraulic cylinder A is passively pulled downward by the belt connection device. During the sinking process, the sinking monitoring system monitors the attitude of the cylindrical foundation, the extension and retraction of the piston rod of hydraulic cylinder A, and the tension of the strip connecting device in real time; and sends the monitoring data to the control system. The control system adjusts the back pressure of hydraulic cylinder A based on the tension monitoring value of the belt connecting device; Suppose that four sets of double lifting lugs are located on straight lines A and B passing through the center of the cylindrical foundation; if the cylindrical foundation is detected to be tilted, the control system processes the attitude data of the cylindrical foundation to obtain the tilt angle of straight lines A and B; then sends a signal to control the back pressure of hydraulic cylinder A to adjust the extension and retraction of the piston rod of the corresponding hydraulic cylinder A, thereby correcting the tilt angle of the cylindrical foundation. After the top surface of the cylindrical foundation reaches the mud surface depth, and after confirming that the tension monitoring values ​​of the four strip connecting devices are all less than the set minimum value, the telescopic rod of the telescopic device is retracted, thereby driving the pin B to exit from the pin hole C of the double lifting lug. After pin B is withdrawn, the piston rod of hydraulic cylinder A retracts and resets; the lowering of the fan equipment is completed.

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