Floating offshore wind turbine assembly platform and method

Abstract

This application relates to the marine technology industry, and in particular to a floating offshore wind turbine assembly platform and a floating offshore wind turbine assembly method. The floating offshore wind turbine assembly platform is used to first lift the top tower section to a first target height, and then install the blades, hub, and nacelle at the top of the top tower section. Then, it lifts the top tower section to a second target height and connects the top tower section and the middle tower section below the top tower section. Then, it lifts the middle tower section and connects the middle tower section and the bottom tower section below the middle tower section, so as to sequentially lift and assemble the wind power capture system downwards, and install the assembled wind power capture system on a floating support system. This application realizes the process of assembling the top tower section first, and then assembling the middle tower section and the bottom tower section in sequence below. It only requires the use of smaller lifting equipment, most of the work is completed at a low height, and it can also effectively reduce the assembly footprint of the main assembly platform.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and in particular to a floating offshore wind turbine assembly platform and a floating offshore wind turbine assembly method. Background Technology

[0002] As the core equipment for deep-sea wind power development projects, the installation technology of floating offshore wind turbines directly affects the economic efficiency and safety of the projects. Traditional floating offshore wind turbines rely on large crawler cranes for high-level assembly at the dock, that is, lifting components such as the tower, nacelle, and blades one by one to a high position above the floating foundation for docking and installation.

[0003] The installation of traditional floating offshore wind turbines relies heavily on large crawler cranes, typically requiring only crawler cranes with a capacity of over 1,000 tons to meet operational requirements. Furthermore, the docks must possess extremely high load-bearing capacity. In reality, crawler cranes with a capacity of over 1,000 tons are scarce, and the number of docks meeting the operational conditions is very limited. In addition, installation requires lifting wind turbine components weighing hundreds of tons to a height of nearly 100 meters, making it highly susceptible to environmental factors such as wind speed and waves. Precise docking is extremely difficult, inefficient, and carries significant operational risks, resulting in a long assembly cycle for a single floating offshore wind turbine. Summary of the Invention

[0004] In view of the above problems, the first aspect of this application provides a floating offshore wind turbine assembly platform.

[0005] A floating offshore wind turbine assembly platform, wherein the floating offshore wind turbine includes: a wind capture system comprising: blades for capturing wind energy by rotation to drive a generator; a hub for connecting the blades; a nacelle in which the generator is installed; and a tower for supporting the blades; the tower includes: a top tower section, a middle tower section, and a bottom tower section; wherein at least the top tower section and the middle tower section are provided with bottom auxiliary hoisting structures; and the nacelle is installed on the top tower section. The floating offshore wind turbine assembly platform is used to first lift the top tower section to a first target height, then hoist the blades, hub, and nacelle to the top of the top tower section; then lift the top tower section to a second target height, and connect the top tower section and the middle tower section below the top tower section; then lift the middle tower section, and connect the middle tower section and the bottom tower section below the middle tower section, so as to sequentially lift and assemble the wind capture system in sections downwards, and install the assembled wind capture system on the floating support system; The floating offshore wind turbine assembly platform includes: The assembly platform body has symmetrically arranged wave-damping sections on both sides, which extend outward from the assembly platform body to form a semi-enclosed installation area on the sea surface. The floating support system is located within the semi-enclosed installation area. The assembly platform body has a planned installation position and a safe position, and a dock crane moves between the planned installation position and the safe position. The dock crane is used to lift the top section tower section, the middle section tower section, or the bottom section tower section, and to lift the blades, hub, and nacelle at the top of the top section tower section. A gantry crane, wherein the gantry crane is mounted on the main body of the assembly platform, the gantry crane is fixed on and slides along rails, and the rails are continuously distributed along the main body of the assembly platform and the wave-damping section; the gantry crane includes: The crane beam has a vertically extending installation opening at its center; the installation opening is arc-shaped to define and maintain the centered vertical alignment of any tower section; the height of the crane beam is greater than the height of any one of the bottom tower section, the middle tower section, and the top tower section, so as to allow the top tower section and the middle tower section to be joined below the top tower section. A clamping device is disposed within the mounting opening, the center of which coincides with the center of the intended installation location on a plane and is located on the same vertical axis, allowing the clamping device to encircle any tower section; the clamping device applies radial pressure to the encircled tower section to clamp the upright tower section or release any tower section during lifting; Multiple sets of evenly spaced guide assemblies are positioned above the crane beam and surrounding the tower section; each guide assembly is used to radially constrain any tower section it surrounds during lifting, guiding it to rise axially and maintain stability; the guide assembly includes: The base is fixed above the crane beam; The main arm is rotatably connected to the base; The guide wheel is connected to the base through the main arm. The guide wheel is located at the end of the main arm and is symmetrically arranged in pairs on both sides of the main arm. The guide wheel is in contact with the outer surface of the tower section. The support rod has one end hinged to the base and the other end hinged to the telescopic sleeve. The telescopic sleeve is fitted on the main arm and can slide along the guide grooves on both sides of the main arm. An adjustable pressure actuator is used to drive the guide wheel to apply a set preload to the contacted tower section; A lifting assembly, used at least for lifting the top or middle tower section, the lifting assembly being disposed below the crane beam, and comprising: The drum is fixedly connected to the crane beam. A hoisting drive unit, which is fixedly connected to the crane beam; A hook, on which a lifting cable is wound and mounted on the drum, and the hook is detachably and fixedly connected to the bottom auxiliary lifting structure; The hoisting drive rotates the drum to lift the top or middle tower section via the hoisting cable.

[0006] The second aspect of this application provides a floating offshore wind turbine assembly method, which uses the above-mentioned floating offshore wind turbine assembly platform and includes the following steps: the dock crane lifts the top tower section so that the top tower section is erected at the intended installation position; Drive the clamp to the open position, the guide assembly maintains the initial tilt angle and drives the guide wheel to the initial preset height; Drive the gantry crane to move along the track toward the intended installation position until the top tower section is within the surrounding range of the clamping device; The hoisting assembly is driven to work, so that the hoisting cable under the crane beam is released from the drum, and the hook is connected to the bottom auxiliary hoisting structure on the top tower section; The top tower section is lifted upwards in conjunction with the dock crane and the lifting assembly until the first target height is reached; At the first target height, the clamp is driven to switch to the closed position, the guide wheel contacts the top tower section, and a set preload is applied; The dock crane lifts the blade, the hub, and the nacelle at the top of the top tower section; Remove the dock crane to a safe location; The guide assembly is driven to maintain the set preload force, and the clamp is driven to switch to the open position; the hoisting assembly is driven to continue lifting the top tower section upward until the second target height is reached; The drive clamp is switched to the closed position, and the clamp clamps the top tower section; the hook separates from the bottom auxiliary lifting structure on the top tower section; the dock crane lifts the middle tower section, so that the middle tower section is erected at the intended installation position and located below the top tower section; the top tower section and the middle tower section are assembled below the crane beam, so that the top tower section and the middle tower section are rigidly connected; The hook is connected to the bottom auxiliary hoisting structure on the middle tower section, drives the guide assembly to maintain the set preload, drives the clamp to switch to the open position, drives the hoisting assembly to lift the middle tower section upward until the bottom tower section can be installed below the crane beam, and drives the clamp to switch to the closed position. The dock crane lifts the bottom tower section, making the bottom tower section stand upright at the intended installation position and below the bottom tower section. The middle tower section and the bottom tower section are assembled below the crane beam, so that the middle tower section and the bottom tower section are rigidly connected, thus completing the assembly of the wind capture system. Drive the clamp to switch to the closed position, and the clamp clamps the rigidly connected wind capture system; The gantry crane is driven to continue moving along the track toward the wave-damping section, and the assembled wind capture system is installed on the floating support system.

[0007] The floating offshore wind turbine assembly platform and assembly method provided in this application implement a process of assembling the top tower section first, followed by the sequential assembly of the middle and bottom tower sections. This requires only relatively small lifting equipment, and most operations are completed at a low altitude. Since it eliminates the need for pre-assembling long, continuous tower sections on the ground before erecting and rotating them, it effectively reduces the land area occupied by the assembly platform, facilitating integration with docks, offshore platforms, or engineering vessels.

[0008] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a structural schematic diagram of a floating offshore wind turbine assembly platform provided in some embodiments of this application; Figure 2 A schematic diagram of the tower structure in its segmented configuration; Figure 3 This is a structural diagram of the wheel hub and engine compartment; Figure 4 A schematic diagram of the guide assembly in the floating offshore wind turbine assembly platform provided in this application; Figure 5This is a structural schematic diagram of the floating offshore wind turbine assembly platform provided in this application under its operating condition. Figure 6 for Figure 5 Enlarged view of a portion of point A in the middle; Figures 7 to 11 This is a structural schematic diagram of the floating offshore wind turbine assembly platform provided in this application under its operating state. Figure 12 A flowchart illustrating the method for assembling a floating offshore wind turbine provided in this application; In the picture: 1. Floating offshore wind turbine assembly platform; 10. Wind capture system; 11. Blades; 12. Hub; 13. Nacelle; 14. Tower; 141. Top tower section; 142. Middle tower section; 143. Bottom tower section; 144. Bottom auxiliary hoisting structure; 20. Floating support system; 30. Main assembly platform; 31. Waveproof section; 32. Semi-enclosed installation area; 40. Gantry crane; 41. Rail; 42. Crane beam; 43. Mounting opening; 44. Clamping device; 45. Ring clamp; 50. Dock crane; 60. Guide assembly; 61. Base; 62. Main arm; 63. Spindle hole; 64. Guide wheel; 65. Support rod; 66. Telescopic sleeve; 70. Lifting assembly; 71. Drum; 72. Hook; 73. Lifting cable. Detailed Implementation

[0011] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0012] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0013] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "electrical connection" should be interpreted broadly. For example, they can refer to fixed electrical connections, detachable electrical connections, or integral electrical connections. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. In the description of embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0014] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0015] In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0016] The first aspect of this application designs and provides a floating offshore wind turbine assembly platform.

[0017] A floating offshore wind turbine is a power generation device installed in the deep sea to capture wind energy and convert it into electrical energy. A floating offshore wind turbine includes a wind capture system 10 and a floating support system 20.

[0018] The wind capture system 10 is the core component of the floating offshore wind turbine, responsible for energy conversion. Specifically, the wind capture system 10 includes components such as blades 11, hub 12, nacelle 13, and tower 14; the blades 11 are typically arranged in groups of three, and the blades 11 capture wind energy by rotating to drive the generator. The hub 12 is used to connect the blades 11, allowing the wind turbine to adapt to different wind speeds. The tower 14 is a tall steel structure used to support the blades 11. The tower 14 is manufactured in sections and assembled on-site. In this application, as shown in the figure, the tower 14 includes: a bottom tower section 143, a middle tower section 142, and a top tower section 141; each tower section is rigidly connected to the others. The nacelle 13 is installed on the top tower section 141, and the generator is installed in the nacelle 13. The nacelle 13 may also integrate power components such as gearboxes and transmissions. The top tower section 141 and the middle tower section 142 are equipped with bottom auxiliary hoisting structures 144, such as lifting lugs.

[0019] like Figures 1 to 3As shown, the floating support system 20 provides stable support for the wind capture system 10, ensuring that the wind capture system 10 can float stably in the deep sea and avoid capsizing. For example, the floating support system 20 can use a tension leg type or a semi-submersible pontoon as its base to suit deep-sea applications. The floating support system 20 can also be connected to seabed anchor blocks using anchor chains or cables. The anchoring system composed of anchor chains or cables is not the focus of this application and will not be described in detail here.

[0020] The floating offshore wind turbine assembly platform 1 provided in this application is used to first lift the top tower section 141 to a first target height, then lift the blades 11, hub 12 and nacelle 13 at the top of the top tower section 141; then lift the top tower section 141 to a second target height, and connect the top tower section 141 and the middle tower section 142 below the top tower section 141; then lift the middle tower section 142, and connect the middle tower section 142 and the bottom tower section 143 below the middle tower section 142, and then lift and assemble the wind turbine capture system in sections downwards in sequence, and then lift and assemble the wind power capture system 10 in sections downwards in sequence, and then install the assembled wind power capture system 10 on the floating support system 20.

[0021] The floating offshore wind turbine platform includes a modular platform body 30. It serves as the basic framework, providing stability and scalability. In some embodiments of this application, the modular platform body 30 can be independently deployed in a designated sea area. In some embodiments of this application, the modular platform body 30 can also be integrated into a dock. In other embodiments of this application, the modular platform body 30 can also be integrated into an offshore platform, such as a wind power generation platform. In still other embodiments of this application, the modular platform body 30 can also be integrated into an engineering vessel.

[0022] Symmetrical wave-damping sections 31 are arranged on both sides of the main assembly platform 30. These wave-damping sections 31 extend outwards from the main assembly platform 30 to form a semi-enclosed installation area 32 on the sea surface. The floating support system 20 is located within this semi-enclosed installation area 32. The main assembly platform 30 and the symmetrically arranged wave-damping sections 31 together form a U-shape. The two wave-damping sections 31 effectively block the impact of wind, waves, currents, and tides on the assembly operation. The floating support system 20, located within the semi-enclosed installation area 32, reduces lateral impacts and improves assembly accuracy. Both the floating support system 20 and the assembled floating offshore wind turbine can easily enter and exit through the opening in the semi-enclosed installation area 32.

[0023] The assembly platform body 30 has a designated installation position (not shown) and a safe position (not shown), and the dock crane 50 moves between the designated installation position and the safe position. The dock crane 50 is used to lift the top tower section 141, the middle tower section 142, or the bottom tower section 143, and to lift the blades 11, hubs 12, and nacelles 13 at the top of the top tower section 141. The dock crane 50 can be a multi-functional mobile crane mounted on a tire or tracked chassis, allowing for flexible operation.

[0024] A gantry crane 40 is installed on the main body 30 of the assembly platform. The gantry crane 40 is fixed on the track 41 and slides along the track 41. The track 41 of the gantry crane 40 is continuously distributed along the main body 30 of the assembly platform and the wave-proof part 31. The gantry crane 40 is suitable for high-precision and large-capacity lifting.

[0025] like Figure 4 As shown, the gantry crane 40 includes a crane beam 42. In a floating offshore wind turbine, blades 11 and hubs 12 together constitute the rotor. The span of the crane beam 42 can approximately cover the width of the entire rotor working plane. A vertically penetrating mounting opening 43 is formed at the center of the crane beam 42. The mounting opening 43 is used to define and maintain the centering and vertical alignment of any tower section, for example, to maintain the centering and vertical alignment of a tower section being hoisted and assembled. In some embodiments of this application, the mounting opening 43 is arc-shaped, and the inner edge shape of the mounting opening 43 corresponds to the outer contour of the tower section, which can accommodate the maximum diameter of the tower section. This ensures that during hoisting operations, the axial center of gravity of the tower section is concentrated near the center of the crane beam 42, reducing horizontal eccentricity and sway, and facilitating centering and installation. The height of the crane beam 42 is greater than the height of any one of the bottom tower section 143, the middle tower section 142, and the top tower section 141, to allow a rigid connection between the top tower section 141 and the middle tower section 142, or a rigid connection between the middle tower section 142 and the bottom tower section 143, below the crane beam 42. For example, the height of the crane beam 42 may also be designed to be adjustable.

[0026] In this application, a clamping device 44 is provided in the installation opening 43. The center of the installation opening 43 coincides with the center of the intended installation location on the plane and is located on the same vertical axis, so as to allow the clamping device 44 to surround any tower section; the clamping device 44 applies radial pressure to the surrounded tower section to clamp the upright tower section or release any tower section during lifting.

[0027] The clamping device 44 includes a pair of symmetrically arranged annular clamps 45, which are fitted onto the outside of the tower section. The annular clamps 45 are hinged within the mounting opening 43 and driven by a power mechanism (e.g., a hydraulic cylinder). The power mechanism tightens the annular clamps 45, and the pair of symmetrically arranged annular clamps 45 move in tandem to clamp or release the tower section during the lifting process with uniform radial pressure.

[0028] Multiple sets of spaced-apart guide assemblies 60 are arranged above the crane beam 42. The multiple sets of spaced-apart guide assemblies 60 are arranged around the tower section 14. The guide assemblies 60 are used to radially constrain any tower section they surround during the lifting process, guide the tower section to be lifted axially, and keep the tower section stable.

[0029] The guide assembly 60 includes a base 61, a main boom 62, a support rod 65, and guide wheels 64. The base 61 is fixed above the crane beam 42, and the main boom 62 is rotatably connected to the base 61. For example, the main boom 62 and the base 61 are respectively provided with spindle holes 63, through which a main shaft passes and rotatably connects the main boom 62 and the base 61, supporting the rotation of the main boom 62. The main boom 62 connects the base 61 and the guide wheels 64. The guide wheels 64 are located at the end of the main boom 62 and are symmetrically arranged in pairs on both sides of the main boom 62, contacting the outer surface of the tower section. The guide wheels 64 are provided with a blocky pattern, the blocks of which are densely and interlaced to ensure that the segmented tower sections rise smoothly along the axial direction during the lifting process.

[0030] The support rod 65 is used to adjust the position of the main arm 62. One end of the rod is hinged to the base 61, and the other end is hinged to the telescopic sleeve 66. The telescopic sleeve 66 is fitted onto the main arm 62 and can slide along the guide grooves on both sides of the main arm 62. For example, the support rod 65 and the base 61 are respectively provided with corresponding rod shaft holes. The rod shaft passes through the rod shaft hole and rotatably connects the support rod 65 and the base 61, supporting the swing of the support rod 65. The other end of the support rod 65 is hinged to the telescopic sleeve 66, which is fitted onto the main arm 62 and can slide along the guide grooves on both sides of the main arm 62, thereby ensuring that the guide wheel 64 at the end of the main arm 62 can move controllably. Preferably, an elastic buffer damping component is provided in the support rod 65 to absorb impact energy, such as a hydraulic cylinder shock absorber or a combination of spring and damping shock absorber. The main arm 62 may also be equipped with a locking pin. In the guide assembly 60, the height of the guide wheel 64 can be changed by driving the main arm 62 or the support rod 65 to rotate.

[0031] In some embodiments of this application, three sets of guide components 60 are evenly spaced at 120 degrees to provide radial stability and constraint to the cylindrical tower section, preventing lateral displacement and eccentric tilting, and guiding the tower section during hoisting operations. The guide wheels 64 of the three sets of guide components 60 are at the same height. When the tower section is lifted upward, the three sets of guide wheels 64 maintain guidance at their respective contact points, transmitting radial constraint through rolling, and the three points jointly restrict radial displacement.

[0032] In some embodiments of this application, an adjustable pressure actuator is provided in the guide assembly 60. The adjustable pressure actuator includes a hydraulic cylinder, a servo valve, and a pressure sensor. A preload is applied to the tower section via the adjustable pressure actuator, thereby ensuring that the tower section does not move. The adjustable pressure actuator may, for example, be located in the support tie rod 65.

[0033] like Figure 5 and Figure 6 As shown, the floating offshore wind turbine assembly platform 1 also includes a lifting assembly 70. Specifically, the lifting assembly 70 is symmetrically arranged below the crane beam 42. The lifting assembly 70 includes a drum 71, a lifting driver (not shown), and a hook 72; wherein, the drum 71 and the lifting driver are fixedly connected to the crane beam 42, for example, fixedly disposed on the lower surface of the crane beam 42, and a lifting cable 73 is wound on the drum 71 and the hook 72. Exemplarily, the lifting driver is a motor. The lifting driver drives the drum 71 to rotate via a reduction gearbox. For example, when the drum 71 rotates clockwise, the lifting cable 73 is wound onto the drum 71, thereby lifting the hook 72; when the drum 71 rotates counterclockwise, the lifting cable 73 is released from the drum 71, thereby lowering the hook 72. The hook 72 cooperates with the bottom auxiliary lifting structure 144 on the top section of the tower section 141 or the middle section of the tower section 142, and the two are detachably fixedly connected. The bottom auxiliary hoisting structure 144 is preferably located at the bottom of the top tower section 141 or the middle tower section 142, and is symmetrically distributed radially on both sides of the tower section. Top auxiliary hoisting structures may also be provided on the top tower section 141, the middle tower section 142, and the bottom tower section 143. The top auxiliary hoisting structures are preferably located at the top of the tower section and are symmetrically distributed radially on both sides of the tower section. The top auxiliary hoisting structures cooperate with the dock crane 50, for example, by being detachably and fixedly connected to the lifting gear of the dock crane 50.

[0034] In this application, the floating offshore wind turbine assembly platform 1 also includes a main controller (not shown). The main controller can adopt a hybrid architecture of programmable logic controller (PLC) and industrial embedded system. The PLC is used for low-level control, such as collecting the detection values ​​of various sensors, driving the movement of motors and hydraulic cylinders, and performing real-time feedback control of speed, position and tension. The industrial embedded system is used for remote communication of the central control system, such as scheduling the dock crane 50.

[0035] like Figure 12 As shown, this application provides a floating offshore wind turbine assembly method, which uses the aforementioned floating offshore wind turbine assembly platform 1 to sequentially lift and assemble the wind power capture system 10 from the top tower section 141 downwards, and then installs the assembled wind power capture system 10 on the floating support system 20; specifically including the following steps: Step S101: The dock crane 50 lifts the top tower section 141, making the top tower section 141 erect at the intended installation position. The center of the intended installation position and the center of the installation opening 43 are on the same straight line and aligned.

[0036] In some embodiments of this application, the main controller communicates with the dock crane 50 through the central control system, and the dock crane 50 initially straightens the top tower section 141 and places it in the preset installation position.

[0037] In some embodiments of this application, the floating offshore wind turbine assembly platform 1 further includes a visual inspection system. The visual inspection system acquires inspection images of preset target positions (e.g., the top of the top section of the tower 141 or a preset mark on the top section of the tower 141 is used as the preset target position). The main controller compares the acquired inspection images with a preset relative reference (e.g., laser marker points) to obtain the lateral deviation and determine whether the lateral deviation exceeds a preset lateral deviation threshold. If the lateral deviation exceeds the lateral deviation threshold, the central control system communicates with the dock crane 50 to issue an adjustment command to adjust the length of the single-sided lifting cable 73 of the dock crane 50, or to adjust the relative position of the dock crane 50 relative to the gantry crane 40, so that the center of the proposed installation position coincides with the center of the installation opening 43 in the plane (i.e., located on the same vertical axis).

[0038] If the lateral deviation is not eliminated after a specified number of automatic adjustments, the main control will issue an alarm to switch to manual intervention or stop the operation.

[0039] Step S102: Drive the clamp 44 to the open position, the guide assembly 60 maintains the initial tilt angle and drives the guide wheel 64 to the initial preset height.

[0040] In some embodiments of this application, the guide assembly 60 further includes a locking pin (not shown). After insertion, the locking pin locks the main guide arm 62, causing the guide assembly 60 to maintain its initial tilt angle and the guide wheel 64 to maintain its initial preset height. The open position of the clamp 44 and the insertion state of the locking pin can both be detected by position sensors. For example, a clamp 44 position sensor disposed on the clamp 44 is communicatively connected to the main controller to output open position status signals and closed position status signals; a limit switch or photoelectric sensor disposed on the locking pin can detect the insertion or release state of the locking pin.

[0041] Step S103: Drive the gantry crane 40 to move along the track 41 toward the intended installation position until the top tower section 141 is within the surrounding range of the clamp 44.

[0042] Specifically, the main controller reads and confirms the real-time position of the gantry crane 40, and defines a continuous first and second movement zone based on the intended installation position and the track 41. The first movement zone is farther from the intended installation position and is used for rapid approach to the intended installation position. The second movement zone is located near the intended installation position and is used for low-speed, precise alignment. In the first movement zone, the main controller drives the gantry crane 40 to move along the track 41 at a first speed, which is equal to or slightly less than the maximum allowable movement speed of the gantry crane 40 on the assembly platform body 30, while maintaining a safety margin. In the second movement zone, the main controller drives the gantry crane 40 to move along the track 41 at a second speed, which is less than the first speed. After entering the second movement zone or departing from the preset distance condition, the main controller begins to sample the alignment parameters output by the alignment sensor.

[0043] In some embodiments of this application, the alignment sensor can be a laser rangefinder, a proximity switch array, or an optional encoder; it can also be implemented by the vision inspection system described above. When using multiple alignment sensors, the alignment sensors are pre-calibrated and transformed to the same reference coordinate system (e.g., based on the coordinate system of the gantry crane 40). For example, a laser rangefinder installed on the gantry crane 40 emits a laser beam towards the intended installation location and receives the reflected light, calculating the distance or profile based on the receiving angle, phase, or time difference; more specifically, a laser sensor measures multiple radial points around the top tower section 141, fitting the center of the top tower section 141 and generating a center offset as an alignment parameter. Alternatively, multiple proximity switches are arranged on the annular clamp 45 of the clamping device 44 to form a proximity switch array, combining the output signals of the multiple proximity switches as alignment parameters, or the starting distances of each proximity switch are calibrated and mapped to synthesize the alignment parameters. The alignment sensor operates according to a predetermined sampling frequency.

[0044] In some embodiments of this application, the main controller samples alignment parameters output by at least two alignment sensors, verifies the consistency of the two alignment parameters according to preset consistency judgment conditions, and calculates the real-time pose error (including lateral displacement and / or angular error) when the two alignment parameters meet the consistency judgment conditions; the real-time pose error is then compared with the allowable tolerance. If the real-time pose error is within the allowable tolerance, it is determined that the top tower section 141 is within the surrounding range of the clamping device 44. That is, at this position, as long as the top tower section 141 is lifted, the clamping device 44 can clamp the top tower section 141, allowing the next step to proceed.

[0045] In some embodiments of this application, the above process is implemented independently by the main controller; in other embodiments, some functions in the above process are implemented by the main controller, and other functions are implemented by the central control system. The main controller and the central control system are communicatively connected.

[0046] Step S104: Drive the hoisting assembly 70 to operate, causing the hoisting cable 73 below the crane beam 42 to be released from the drum 71, and the hook 72 to connect with the bottom auxiliary hoisting structure 144 on the top tower section 141. Figure 5 As shown.

[0047] Specifically, the main controller drives the hoisting driver to release the hoisting cable 73, so that the hook 72 is connected to the bottom auxiliary hoisting structure 144 on the top tower section 141. When the left and right loads are stable and there is no abnormal swing, the connection between the hook 72 and the bottom auxiliary hoisting structure 144 is confirmed, and the system enters the preparation state.

[0048] The connection between the hook 72 and the bottom auxiliary hoisting structure 144 on the top tower section 141 can be detected by a proximity switch at the bottom auxiliary hoisting structure 144, and the tension of the left and right hoisting cables 73 is detected by load sensors. If the loads on the left and right hoisting cables 73 are within the allowable range and the difference in load between the left and right hoisting cables 73 is within the set load tolerance range, the left and right loads are considered stable. When the instantaneous angular velocity or displacement of the top tower section 141 detected by the oscillation sensor, inertial measurement unit, or visual inspection system is less than the preset angular velocity threshold or displacement threshold, it is determined that there is no abnormal oscillation. At this time, the connection between the hook 72 and the bottom auxiliary hoisting structure 144 on the top tower section 141 is reliable, and the system enters the ready state.

[0049] Step S105: The dock crane 50 and the lifting assembly 70 work together to lift the top tower section 141 upwards until the first target height is reached, as shown below. Figure 7 As shown.

[0050] Specifically, the main controller communicates with the dock crane 50 through the central control system. It issues synchronous lifting commands according to the preset coordinated speed curve and / or coordinated acceleration curve.

[0051] For example, the main controller reads the real-time load of the gantry crane 40 and the real-time load of the dock crane 50, compares the real-time load of the gantry crane 40 with a first target load, and compares the real-time load of the dock crane 50 with a second target load. The first target load is greater than the second target load, so that the gantry crane 40 bears most of the load and the dock crane 50 bears a small portion of the load. The difference between the real-time load of the gantry crane 40 and the first target load, and the difference between the real-time load of the dock crane 50 and the second target load are calculated. The main controller uses a proportional-integral or other similar closed-loop control strategy to adjust the speed commands and / or acceleration commands at both ends of the dock crane 50 and the lifting drive, so that the actual load distribution approaches the sum of the first target load and the second target load. At the same time, it smoothly lifts the top tower section 141 according to a preset coordinated speed curve and / or coordinated acceleration curve until the first target height is reached. At the first target height, the axial centerline of the clamp 44 is approximately aligned with the axis of the top tower section 141, maintaining its position for the next process.

[0052] Step S106: At the first target height, drive the clamp 44 to switch to the closed position, and guide wheel 64 contacts the top tower section 141 and applies the set preload.

[0053] Specifically, the main controller drives the clamp 44 to switch to the closed position, and the annular clamp 45 clamps the top tower section 141 and applies a set clamping force. The clamping force is monitored by the pressure sensor of the clamp 44 and output to the main controller. The main controller uses closed-loop control of the symmetrically arranged annular clamps 45 to keep the clamp 44 within the set clamping force range.

[0054] If a locking pin is provided in the guide assembly 60, the locking pin is unlocked, allowing the main boom 62 to hinge at the base 61 and rotate freely, and the top tower section 141 contacts the guide wheel 64. The guide wheel 64 guides the radial position through rolling contact. The radial thrust causes the main boom 62 to rotate, the telescopic sleeve 66 slides in the guide groove of the main boom 62, the support tie rod 65 is pushed, and the elastic component (e.g., spring) in the elastic damping assembly is compressed to maintain a predetermined preload force, keeping the guide wheel 64 in contact with the outer circumferential surface of the top tower section 141. During the lifting process, as the diameter and position of the top tower section 141 change, the telescopic sleeve 66 continues to slide in the guide groove of the main boom 62. The elastic damping assembly automatically compensates for displacement and absorbs impact, and the guide wheel 64 guides and limits radial displacement through rolling. Since the outer diameter tolerance, surface shape, and position of the top tower section 141 being lifted are predictable, and the lifting speed is relatively slow, passive adaptive guidance can efficiently complete the guidance, improving work efficiency.

[0055] Step S107: The dock crane 50 lifts the blades 11, hubs 12 and nacelles 13 at the top of the top tower section 141.

[0056] Specifically, the main controller communicates with the dock crane 50 through the central control system, coordinating the dock crane 50 to hoist the blades 11, hub 12, and nacelle 13 at the top of the top tower section 141 to complete the upper structure of the wind capture system 10. At the first target height, the hoisting height is relatively low, which facilitates the operation of the dock crane 50.

[0057] Step S108: Move the dock crane 50 to a safe position.

[0058] Specifically, after the dock crane 50 completes and confirms the upper structure is secured, the main controller communicates with the dock crane 50 through the central control system, issues an evacuation command, and drives the dock crane 50 to leave the intended installation position along the predetermined evacuation trajectory to a safe location. During the evacuation process, the main controller monitors the safety clearance between the dock crane 50 and the tower section and the obstacles in the path, and continues operation after confirming safe evacuation.

[0059] Step S109: Drive the guide assembly 60 to maintain the set preload, drive the clamp 44 to switch to the open position; drive the hoisting assembly 70 to continue lifting the top tower section 141 upwards until the second target height is reached.

[0060] After the dock crane 50 is withdrawn, preparations are made for the second stage of lifting. The main controller calls the preset preload force of the guide assembly 60. The main controller reads the real-time pressure of the pressure sensor of the guide assembly 60 and adjusts the servo valve under closed-loop control to maintain the output of the adjustable pressure actuator at the preset preload force, thereby ensuring that the radial preload force of the guide wheel 64 on the top tower section 141 is continuously present and inhibiting the radial movement of the top tower section 141. The drive clamp 44 switches to the open position, driving the lifting drive to lift the top tower section 141 upwards until the second target height is reached. The diameter of each tower section changes from small to large from top to bottom. Therefore, based on the preset mapping relationship between the height and outer diameter of the top tower section 141 and the height and outer diameter of the middle tower section 142, a mapping table or curve from height to preset preload force is established. The main controller queries and calls the corresponding preset preload force according to the current lifting height.

[0061] Step S110: The drive clamp 44 switches to the closed position, clamping the top tower section 141; the hook 72 separates from the bottom auxiliary lifting structure 144 on the top tower section 141; the dock crane 50 lifts the middle tower section 142, making the middle tower section 142 stand upright in the intended installation position and below the top tower section 141; the top tower section 141 and the middle tower section 142 are assembled below the crane beam 42, making the top tower section 141 and the middle tower section 142 rigidly connected; Figure 8 As shown.

[0062] Specifically, the main controller drives the clamp 44 to switch to the closed position, clamping the top tower section 141 with rigid connection, and the hook 72 separates from the bottom auxiliary lifting structure 144 on the top tower section 141; the lifting device of the dock crane 50 also separates from the top auxiliary lifting structure on the top tower section 141; the dock crane 50 is coordinated to lift, erect and position the middle tower section 142 below the top tower section 141; the docking and rigid connection (such as flange docking or other rigid connection process) of the top tower section 141 and the middle tower section 142 is completed below the crane beam 42.

[0063] Step S111: The hook 72 is connected to the bottom auxiliary lifting structure 144 on the middle tower section 142. The drive guide assembly 60 maintains the set preload force, the drive clamp 44 switches to the open position, and the drive lifting assembly 70 lifts the middle tower section 142 upward until it is possible to install the bottom tower section 143 below the crane beam 42. The drive clamp 44 switches to the closed position.

[0064] After the connection between the top tower section 141 and the middle tower section 142 is completed, the hook 72 connects to the bottom auxiliary lifting structure 144 on the middle tower section 142. The proximity switch at the bottom auxiliary lifting structure 144 of the middle tower section 142 detects the connection status, and the main controller confirms the connection signal. With the guide assembly 60 maintaining the predetermined preload, the drive clamp 44 switches to the open position, and the lifting drive slowly raises the middle tower section 142 until the height requirement for installing the bottom tower section 143 below the crane beam 42 is met.

[0065] Step S112: The dock crane 50 lifts the bottom tower section 143, erecting it at the intended installation position and below it. The middle tower section 142 and the bottom tower section 143 are then assembled below the crane beam 42, creating a rigid connection between them, thus completing the assembly of the wind capture system 10. Figure 9 As shown.

[0066] Specifically, the main controller coordinates the dock crane 50 to lift and erect the bottom tower section 143 and position it below the middle tower section 142; and completes the docking and rigid connection (such as flange docking or other rigid connection process) between the bottom tower section 143 and the middle tower section 142 under the crane beam 42.

[0067] Step S113: Drive the clamp 44 to switch to the closed position, clamping the rigidly connected wind capture system 10.

[0068] If a fourth tower section is installed, repeat steps S110 to S113 until the fourth tower section is installed.

[0069] Step S114: Drive the gantry crane 40 to continue moving along the track 41 toward the wave-damping section 31, and install the assembled wind capture system 10 onto the floating support system 20, as follows. Figure 10 and Figure 11 As shown.

[0070] After assembly, the main controller drives the gantry crane 40 to continue moving along the track 41 toward the wave-damping section 31, installing the assembled wind capture system 10 onto the floating support system 20, including unloading, alignment and fixing, etc. After confirming that the installation is firm, the operation sequence ends.

[0071] During the docking process between the middle tower section 142 and the bottom tower section 143, one or more hydraulic jacks can be used as auxiliary jacks to bear and share part of the axial load, perform fine-tuning and alignment, and temporarily lock the tower.

[0072] The floating offshore wind turbine assembly platform and assembly method provided in this application implement a process of assembling the top tower section first, followed by the sequential assembly of the middle and bottom tower sections. This requires only relatively small lifting equipment, and most operations are completed at a low altitude. Since it eliminates the need for pre-assembling long, continuous tower sections on the ground before erecting and rotating them, it effectively reduces the land area occupied by the assembly platform, facilitating integration with docks, offshore platforms, or engineering vessels.

[0073] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. A floating offshore wind turbine assembly platform, wherein, The floating offshore wind turbine includes: Wind capture system, comprising: Blades, which are used to capture wind energy by rotating to drive generators; A hub, used to connect the blades; The generator is installed in the engine room; A tower for supporting the blades; the tower includes: a top tower section, a middle tower section, and a bottom tower section; wherein at least the top tower section and the middle tower section are provided with bottom auxiliary hoisting structures; the nacelle is installed on the top tower section; The floating offshore wind turbine assembly platform is characterized in that it first lifts and raises the top tower section to a first target height, then hoists the blades, hub, and nacelle at the top of the top tower section; then lifts the top tower section to a second target height, and connects the top tower section and the middle tower section below the top tower section; then lifts the middle tower section, and connects the middle tower section and the bottom tower section below the middle tower section, so as to sequentially lift and assemble the wind power capture system in sections downwards, and install the assembled wind power capture system on the floating support system; The floating offshore wind turbine assembly platform includes: The assembly platform body has symmetrically arranged wave-damping sections on both sides, which extend outward from the assembly platform body to form a semi-enclosed installation area on the sea surface. The floating support system is located within the semi-enclosed installation area. The assembly platform body has a planned installation position and a safe position, and a dock crane moves between the planned installation position and the safe position. The dock crane is used to lift the top section tower section, the middle section tower section, or the bottom section tower section, and to lift the blades, hub, and nacelle at the top of the top section tower section. A gantry crane, wherein the gantry crane is mounted on the main body of the assembly platform, the gantry crane is fixed on and slides along rails, and the rails are continuously distributed along the main body of the assembly platform and the wave-damping section; the gantry crane includes: The crane beam has a vertically extending installation opening at its center; the installation opening is arc-shaped to define and maintain the centered vertical alignment of any tower section; the height of the crane beam is greater than the height of any one of the bottom tower section, the middle tower section, and the top tower section, so as to allow the top tower section and the middle tower section to be joined below the top tower section. A clamping device is disposed within the mounting opening, the center of which coincides with the center of the intended installation location on a plane and is located on the same vertical axis, allowing the clamping device to encircle any tower section; the clamping device applies radial pressure to the encircled tower section to clamp the upright tower section or release any tower section during lifting; Multiple sets of evenly spaced guide assemblies are positioned above the crane beam and surrounding the tower section; each guide assembly is used to radially constrain any tower section it surrounds during lifting, guiding it to rise axially and maintain stability; the guide assembly includes: The base is fixed above the crane beam; The main arm is rotatably connected to the base; The guide wheel is connected to the base through the main arm. The guide wheel is located at the end of the main arm and is symmetrically arranged in pairs on both sides of the main arm. The guide wheel is in contact with the outer surface of the tower section. The support rod has one end hinged to the base and the other end hinged to the telescopic sleeve. The telescopic sleeve is fitted on the main arm and can slide along the guide grooves on both sides of the main arm. An adjustable pressure actuator is used to drive the guide wheel to apply a set preload to the contacted tower section; A lifting assembly, used at least for lifting the top or middle tower section, the lifting assembly being disposed below the crane beam, and comprising: The drum is fixedly connected to the crane beam. A hoisting drive unit, which is fixedly connected to the crane beam; A hook, on which a lifting cable is wound and mounted on the drum, and the hook is detachably and fixedly connected to the bottom auxiliary lifting structure; The hoisting drive drives the drum to rotate, so as to lift the top or middle tower section via the hoisting cable; The main controller communicates with the dock cranes via the central control system; A visual inspection system is used to acquire detection images of a preset target position, wherein the preset target position is the top of the top section of the tower or a preset mark on the top section of the tower. Multiple centering sensors are used, including a laser rangefinder and a proximity switch array. The laser rangefinder is installed on the gantry crane to measure multiple radial points around the top tower section, fit the center of the top tower section, and generate a center offset as a centering parameter. The proximity switch array is installed on the annular clamp of the clamping device, and the combination of multiple proximity switch output signals is used as a centering parameter.

2. A method of assembling a floating offshore wind turbine, characterized in that, The application of the floating offshore wind turbine assembly platform as described in claim 1 includes the following steps: The dock crane lifts the top tower section, erecting it at the intended installation location; the center of the intended installation location and the center of the installation opening are aligned on the same straight line; this includes: The visual inspection system acquires detection images at preset target positions. The main controller compares the acquired detection images with a preset relative reference to obtain the lateral deviation and determine whether the lateral deviation exceeds a preset lateral deviation threshold. If the lateral deviation exceeds the lateral deviation threshold, the length of the single-sided lifting cable of the dock crane is adjusted, or the relative position of the dock crane with respect to the gantry crane is adjusted so that the center of the proposed installation position coincides with the center of the installation opening on the plane and is located on the same vertical axis. Drive the clamp to the open position, insert the locking pin and lock the main arm, so that the guide assembly maintains the initial tilt angle and drives the guide wheel to the initial preset height; Driving the gantry crane along the track to move towards the intended installation position until the top tower section is within the surrounding range of the clamping device includes: The main controller reads and confirms the real-time position of the gantry crane, and defines a continuous first and second movement zone based on the track, with the intended installation position as the target. The first movement zone is used to quickly approach the intended installation position, and the second movement zone is located near the intended installation position for low-speed and precise centering. The main controller drives the gantry crane to move along the track at a first speed in the first movement zone, and drives the gantry crane to move along the track at a second speed in the second movement zone, where the second speed is less than the first speed. After entering the second moving area or after the preset distance condition is triggered, the main controller samples the alignment parameters output by at least two alignment sensors. When the two alignment parameters meet the consistency judgment condition, the real-time pose error is calculated. The real-time pose error is compared with the allowable tolerance. If the real-time pose error is within the allowable tolerance, it is determined that the top tower section is within the surrounding range of the clamp. The hoisting assembly is driven to work, so that the hoisting cable under the crane beam is released from the drum, and the hook is connected to the bottom auxiliary hoisting structure on the top tower section; The top tower section is lifted upwards in conjunction with the dock crane and the lifting assembly until the first target height is reached; At the first target height, the drive clamp is switched to the closed position, the guide wheel contacts the top tower section and applies a set preload. During the lifting process, as the diameter and position of the top tower section change, the telescopic sleeve continues to slide in the guide groove of the main boom. The elastic buffer shock absorption component automatically compensates for displacement and absorbs impact. The guide wheel guides and limits radial displacement by rolling. The dock crane lifts the blade, the hub, and the nacelle at the top of the top tower section; Remove the dock crane to a safe location; The guide assembly is driven to maintain the set preload force, and the clamp is driven to switch to the open position; the hoisting assembly is driven to continue lifting the top tower section upward until the second target height is reached; The drive clamp is switched to the closed position, and the clamp clamps the top tower section; the hook separates from the bottom auxiliary lifting structure on the top tower section; the dock crane lifts the middle tower section, so that the middle tower section is erected at the intended installation position and located below the top tower section; the top tower section and the middle tower section are assembled below the crane beam, so that the top tower section and the middle tower section are rigidly connected; The hook is connected to the bottom auxiliary hoisting structure on the middle tower section, drives the guide assembly to maintain the set preload, drives the clamp to switch to the open position, drives the hoisting assembly to lift the middle tower section upward until the bottom tower section can be installed below the crane beam, and drives the clamp to switch to the closed position. The dock crane lifts the bottom tower section, making the bottom tower section stand upright at the intended installation position and below the bottom tower section. The middle tower section and the bottom tower section are assembled below the crane beam, so that the middle tower section and the bottom tower section are rigidly connected, thus completing the assembly of the wind capture system. Drive the clamp to switch to the closed position, and the clamp clamps the rigidly connected wind capture system; The gantry crane is driven to continue moving along the track toward the wave-damping section, and the assembled wind capture system is installed on the floating support system.

Images