Heave compensation tool, heave compensation system, and heave compensation method

Abstract

A heave compensation tool, comprising: a main body portion (100); a moving block (101) slidably mounted on the main body portion; a driving mechanism used for driving the moving block to slide in the axial direction of the main body portion; and a first sensor (104) used for detecting the heave state of the moving block. The main body portion is provided with a first hoisting portion (102), and the moving block is provided with a second hoisting portion (103). Also provided are a heave compensation system and a heave compensation method. The heave compensation tool can keep a unit component to be mounted and a mounted unit component relatively static, and keeps the lifting force of a crane unchanged, thereby solving the "static against dynamic" problem.

Description

Heave compensation tooling, heave compensation system, and heave compensation method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 30, 2023, with application number 202311634991.4 and invention name “A heave compensation tooling, heave compensation system and heave compensation method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the technical field of offshore wind power, and in particular to a heave compensation tool, a heave compensation system and a heave compensation method. Background Art

[0003] Currently, the construction process for floating wind turbines primarily involves assembling the turbines onto floating foundations at the dock using a crane, and then transporting the entire structure to the installation site via wet towing. Due to the significant weight and height of affordable, large-capacity turbines, there are currently no larger, more suitable cranes available on the market for assembling large-capacity turbines at the dock. Even if cranes were available, the dock's carrying capacity is limited, and few docks can accommodate such a large load capacity. Furthermore, after the floating wind turbines are installed at the dock, the floating foundation and turbines still need to be towed a long distance from the dock to the offshore installation site. If severe convective weather or typhoons are encountered during the towing process, the transportation risk is extremely high, with disastrous consequences. Furthermore, the existing solution for replacing major components of floating wind turbines requires towing the entire float and turbine to the dock for major component replacement, which makes the maintenance cost of floating wind turbines very high.

[0004] It is foreseeable that in the future, the installation and operation and maintenance of large-capacity floating wind turbines at offshore sites will be the mainstream method. However, the installation and operation and maintenance of offshore sites will face a static-dynamic installation condition when using a self-elevating platform. For example, after the crane lifts the unit components to be installed and docks them with the unit components installed on the floating foundation, but the bolts have not been inserted at this time, the shaking of the floating foundation will cause the lifting force of the crane to keep changing. There will sometimes be gaps and sometimes no gaps between the docking surfaces between the unit components, which will bring difficulties to personnel in installing and tightening bolts. In serious cases, there will be risks such as the unit components overturning, the installation ship's crane arm overturning, and the unit component flanges being damaged.

[0005] Therefore, how to provide a heave compensation tool that can safely realize the installation and operation and maintenance of floating wind turbines at offshore engine sites is a technical problem that technical personnel in this field urgently need to solve.

[0006] Summary of the Invention

[0007] The purpose of the present invention is to provide a heave compensation tool, a heave compensation system and a control method, which can safely realize the installation and operation and maintenance of a floating wind turbine at an offshore machine site.

[0008] In order to solve the above technical problems, the present invention provides a heave compensation tool, comprising:

[0009] Main body;

[0010] A moving block is slidably mounted on the main body;

[0011] A driving mechanism, configured to drive the moving block to slide along the axial direction of the main body;

[0012] a first sensor for detecting a heave state of the moving block;

[0013] Wherein, the main body is provided with a first hoisting part, and the moving block is provided with a second hoisting part.

[0014] Optionally, the first sensor is provided on the moving block.

[0015] Optionally, the driving mechanism and the first sensor are electrically connected to a controller, and the controller is used to control the action of the driving mechanism so that the moving block has a preset heave displacement.

[0016] Optionally, the heave compensation tooling further includes an adjusting mechanism, which is connected between the moving block and the second lifting part, and the adjusting mechanism can drive the second lifting part to move along a first direction and a second direction, and the first direction, the second direction and the axial direction of the main body are perpendicular to each other.

[0017] Optionally, the heave compensation tool further includes a rotating mechanism, wherein the rotating mechanism is connected between the main body and the first hoisting part, and the rotating mechanism can drive the main body to rotate relative to the first hoisting part.

[0018] Optionally, the heave compensation tooling further includes a self-stabilizing mechanism, which is used to connect the main body and the boom of the lifting device and adjust the tension between the main body and the boom to stabilize the posture of the heave compensation tooling.

[0019] Optionally, the heave compensation tooling further includes a self-stabilizing mechanism, which includes a telescopic unit, a connecting rope and a tension sensor, the telescopic unit being arranged on the main body, the telescopic unit and the connecting rope being connected to each other, and the end of the connecting rope away from the telescopic unit being used to connect to the boom.

[0020] Optionally, the telescopic direction of the telescopic unit and the axial direction of the main body form an angle.

[0021] Optionally, the tension sensor is provided on the connecting rope.

[0022] Optionally, the telescopic unit and the tension sensor are both electrically connected to a controller, and the controller is used to control the telescopic unit to extend and retract so as to keep the tension of the connecting rope constant.

[0023] The present invention also provides a heave compensation system, comprising the above-mentioned heave compensation tooling, wherein:

[0024] The first hoisting portion of the heave compensation tool is connected to the lifting device, and the second hoisting portion is connected to the unit component to be installed;

[0025] It also includes a second sensor, which is used to detect the heave status of the installed unit components, and the second sensor is electrically connected to the controller.

[0026] The heave compensation system of the present invention includes the aforementioned heave compensation tooling, and therefore has the same technical effects as the aforementioned heave compensation tooling, which will not be described in detail here.

[0027] The present invention further provides a heave compensation method, based on the above-mentioned heave compensation system, comprising the following steps:

[0028] The heave state of the installed unit components is detected, and the moving block is controlled to perform heave compensation so that the installed unit components and the moving block have the same heave displacement.

[0029] The heave compensation method of the present invention is based on the aforementioned heave compensation system, and therefore has the same technical effects as the aforementioned heave compensation system, which will not be described in detail herein.

[0030] Optionally, before hoisting the unit components to be installed, the heave compensation method further includes the following steps:

[0031] The regulating mechanism is controlled to move and drive the hoisting position of the second hoisting portion to move along the first direction and the second direction, so that the hoisting position of the second hoisting portion corresponds to the hoisting point position on the hoisting device for installing the unit component.

[0032] Optionally, the following steps are also included:

[0033] The rotation mechanism is controlled to rotate relative to the first hoisting portion, so that the flange reference line of the unit component to be installed can be aligned with the flange reference line of the installed unit component.

[0034] Optionally, the following steps are also included:

[0035] The tension of the connecting rope is detected. When the tension of the connecting rope deviates from the preset tension, the telescopic unit is controlled to be extended or retracted. When the tension of the connecting rope returns to the preset tension, the telescopic unit is controlled to stop moving.

[0036] The heave compensation tooling of the present invention can be applied to the offshore installation and operation and maintenance of floating wind turbines. Specifically, it is used to dock and install the unit components to be installed with the unit components already installed on the floating foundation, or to replace the unit components. It is designed to solve the "static to dynamic" docking problem encountered when docking the unit components to be installed with the installed unit components due to the shaking of the floating foundation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1 is a schematic structural diagram of a specific embodiment of a heave compensation tool provided by the present invention;

[0038] FIG2 is a schematic structural diagram of the heave compensation tooling of FIG1 at a second angle;

[0039] FIG3 is a schematic structural diagram of the heave compensation tooling of FIG1 at a third angle;

[0040] FIG4 is a schematic structural diagram of the heave compensation tooling of FIG1 at a fourth angle;

[0041] FIG5 is a schematic structural diagram of the heave compensation tooling of FIG1 at a fifth angle;

[0042] FIG6 is a schematic structural diagram of the heave compensation tooling of FIG1 at a sixth angle;

[0043] FIG7 is a diagram showing the working state of the heave compensation tooling of FIG1;

[0044] The reference numerals in Figures 1 to 7 are described as follows:

[0045] 1-heave compensation fixture; 100-main body; 1001-base; 1002-vertical beam; 100a-guide rail; 101-moving block; 101a-clamping protrusion; 102-first lifting part; 1021-lifting beam; 1022-lifting seat; 103-second lifting part; 1031-lifting seat; 1031a-sliding block; 1031b-second ear plate; 1031c-lifting ring; 104-first sensor; 105-controller; 106-lifting belt; 10 7-first drive unit; 1071-first drive unit; 1071a-connecting plate; 1072-gear; 1073-rack; 108-second drive unit; 1081-first connecting arm; 1082-second connecting arm; 108a-long arm; 108b-connecting arm; 1083-hinge shaft; 1084-second drive unit; 109-accumulator; 110-connecting assembly; 1101-first ear plate; 111-adjusting mechanism; 1111-third Drive unit; 1112-first screw rod; 1113-first nut; 1114-adjusting arm; 1114a-first adjusting arm; 1114b-second adjusting arm; 1115-fourth drive unit; 112-third ear plate; 113-rotating mechanism; 1131-connecting bearing; 1131a-meshing tooth portion; 1132-driving tooth portion; 1133-power component; 1134-first bevel gear; 1135-second bevel gear; 114-mounting plate 115-fourth ear plate; 116-fifth ear plate; 117-self-stabilizing mechanism; 1171-telescopic unit; 1171a-X-shaped telescopic frame; 1171b-sixth drive unit; 1171c-second screw rod; 1171d-second nut; 1172-connecting rope; 1173-tension sensor; 118-sixth ear plate; 119-connecting block; 120-power supply unit; a-first connecting slot; b-second connecting slot; c-clamping slot; d-guide slot;

[0046] 2- Unit components to be installed;

[0047] 3-Floating foundation;

[0048] 4- Unit components have been installed;

[0049] 5-Jump-up platform installation vessel; 511-Hook; 512-Boom;

[0050] 6- Second sensor. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] The term “plurality” herein generally refers to more than two; and when “plurality” is used to indicate the number of certain components, it does not indicate the relationship between the quantities of these components.

[0053] Please refer to Figures 1 to 7, Figure 1 is a structural schematic diagram of a specific embodiment of the heave compensation tool provided by the present invention; Figure 2 is a structural schematic diagram of the heave compensation tool in Figure 1 at the second angle; Figure 3 is a structural schematic diagram of the heave compensation tool in Figure 1 at the third angle; Figure 4 is a structural schematic diagram of the heave compensation tool in Figure 1 at the fourth angle; Figure 5 is a structural schematic diagram of the heave compensation tool in Figure 1 at the fifth angle; Figure 6 is a structural schematic diagram of the heave compensation tool in Figure 1 at the sixth angle; Figure 7 is a working state diagram of the heave compensation tool in Figure 1.

[0054] The present invention provides a heave compensation tool 1, comprising:

[0055] Main body 100;

[0056] The moving block 101 is slidably mounted on the main body 100;

[0057] A driving mechanism for driving the moving block 101 to slide along the axial direction of the main body 100;

[0058] The first sensor 104 is provided on the moving block 101 and is used to detect the heave displacement of the moving block 101;

[0059] in:

[0060] The main body 100 is provided with a first lifting part 102, the moving block 101 is provided with a second lifting part 103, the driving mechanism and the first sensor 104 are electrically connected to the controller 105, and the controller 105 is used to control the action of the driving mechanism so that the moving block 101 has a preset heave displacement.

[0061] The heave compensation fixture 1 of the present invention can be applied to the offshore installation and operation and maintenance of floating wind turbines. Specifically, it is used to dock and install a unit component 2 to be installed with an installed unit component 4 installed on a floating foundation 3, or to replace a unit component. To solve the "static-to-dynamic" problem encountered when docking or disassembling the unit component 2 to be installed and the installed unit component 4 due to the swaying of the floating foundation 3, the present invention provides a heave compensation fixture 1. The heave compensation fixture 1 is connected between the hook 51 of the crane on the jack-up platform installation vessel 5 and the unit component 2 to be installed. Specifically:

[0062] The hook 51 is connected to the first lifting part 102 through the lifting belt 106, and the unit component 2 to be installed is connected to the second lifting part 103 through the lifting belt 106. The controller 105 is the control core of the entire heave compensation tool 1. The controller 105 can calculate the heave displacement that needs to be compensated for by the moving block 101 according to the heave state of the floating foundation 3, and control the start of the driving mechanism. The driving mechanism can drive the moving block 101 to slide along the axial direction of the main body 100 to perform heave compensation; at the same time, the first sensor 104 set on the moving block 101 can measure the heave displacement value of the moving block 101 in real time and transmit the detection result to the controller 105. The controller 105 can detect the heave displacement of the moving block 101 detected by the first sensor 104. The displacement is compared with the heave displacement of the floating foundation 3 until the two displacement values ​​are equal, that is, the preset heave displacement of the moving block 101 is equal to the heave displacement of the floating foundation 3. At this time, the controller 105 controls the driving mechanism to stop moving. According to the sway amplitude and frequency of the floating foundation 3, the heave compensation tool 1 of the present invention will repeatedly compensate for the heave of the unit component 2 to be installed through the moving block 101, always keeping the unit component 2 to be installed and the installed unit component 4 relatively stationary. In this way, the lifting force of the crane can be kept constant, and it is more efficient and safer for personnel to loosen or tighten the bolts connecting the unit components. Moreover, during the lifting process, the unit component will not overturn, the crane arm 52 will not overturn, and the unit component flange will not be damaged.

[0063] It can be seen that the heave compensation tool 1 of the present invention can solve the "static against dynamic" problem encountered when the unit component 2 to be installed and the installed unit component 4 are docked or disassembled due to the shaking of the floating foundation 3, and safely realize the installation and operation and maintenance of large-capacity floating wind turbines at offshore machine sites, ensuring the feasibility of the offshore construction process of large-capacity floating wind turbines; at the same time, the process scheme of installing floating wind turbines at offshore machine sites using the heave compensation tool 1 does not require the use of large-sized and large-tonnage dock cranes at the dock, nor does it require the use of dock resources to transform the dock's bearing capacity, which can greatly reduce The construction cost of large-capacity floating wind turbines is reduced. At the same time, when installing floating wind turbines at sea, there is no need to tow the floating foundation 3 and the wind turbine as a whole, which greatly reduces the towing cost and the uncertainty risks during the towing process, such as typhoon interference, and reduces the transportation risk. In addition, the use of the heave compensation tool 1 can also take into account the replacement of large components of the floating wind turbines in the later stage, ensuring the feasibility of offshore operation and maintenance of large-capacity floating wind turbines in the deep sea in the future. There is no need to adopt the existing method of towing the entire unit to the dock for replacement of large components, which greatly reduces the maintenance cost of the floating wind turbines.

[0064] As can be seen from FIG1 , in this embodiment, the controller 105 is disposed at the upper end of the main body 100. In actual applications, the placement of the controller 105 does not affect the realization of its functions. Therefore, the placement of the controller 105 is not limited. The control principle of the controller 105 is well known to those skilled in the art and will not be described in detail here.

[0065] It can be understood that the heave compensation tooling 1 of the present invention can not only be applied to the offshore installation and operation and maintenance of floating wind turbines, but is also applicable to other "static to dynamic" working conditions that require heave compensation. In actual applications, the moving block 101 is connected to the "static unit", and the controller 105 can obtain the heave status of the "dynamic unit" and perform heave compensation through the moving block 101 to ensure that the preset heave displacement of the moving block 101 is the same as the heave displacement of the "dynamic unit", thereby ensuring that the "static unit" and the "dynamic unit" always remain relatively stationary.

[0066] In the present invention, first sensor 104 is a displacement sensor that can directly detect the heave displacement of moving block 101. In practice, first sensor 104 can also be an acceleration sensor. First sensor 104 is used to detect the heave acceleration of moving block 101 and transmit the detected heave acceleration of moving block 101 to controller 105. Controller 105 calculates the heave displacement of moving block 101 through a quadratic integral series. Therefore, first sensor 104 is actually used to detect the heave state of moving block 101.

[0067] As previously mentioned, when the heave compensation tool 1 of the present invention is applied to the offshore installation and operation and maintenance of a floating wind turbine, the controller 105 can obtain the heave status of the floating foundation 3. Specifically, as shown in FIG7 , a second sensor 6 can be provided on the floating foundation 3 or on the installed wind turbine component 4 mounted on the floating foundation 3. The second sensor 6 is electrically connected to the controller 105. The second sensor 6 can be an acceleration sensor or a displacement sensor, wherein:

[0068] When the second sensor 6 is an acceleration sensor, the second sensor 6 is used to detect the heave acceleration of the floating foundation 3 and transmit the detected heave acceleration to the controller 105. The controller 105 obtains the heave displacement of the floating foundation 3 after performing a quadratic integral series calculation.

[0069] When the second sensor 6 is a displacement sensor, the second sensor 6 can directly detect the heave displacement of the floating foundation 3 and transmit the detected heave displacement to the controller 105 .

[0070] As mentioned above, the heave compensation tool 1 of the present invention includes a driving mechanism for driving the moving block 101 to slide along the axial direction of the main body 100. In this embodiment, the driving mechanism includes a first driving part 107, specifically:

[0071] The first driving part 107 includes a gear rack transmission unit and a first driving unit 1071. The gear rack transmission unit includes a gear 1072 and a rack 1073 that are meshed with each other. The rack 1073 is arranged on the main body 100. The rack 1073 extends along the axial direction of the main body 100. The first driving unit 1071 can be a driving motor. The driving motor is arranged on the moving block 101. The output shaft of the driving motor and the gear 1072 are connected one-to-one for driving the gear 1072 to rotate. The controller 105 is electrically connected to the driving motor.

[0072] In this way, when it is necessary to control the moving block 101 to perform rising and sinking movements, the controller 105 can control the drive motor to start, the output shaft of the drive motor to rotate, and drive the gear 1072 to rotate synchronously. Under the meshing action of the gear 1072 and the rack 1073, the gear 1072 can also move along the extension direction of the rack 1073, thereby realizing the axial sliding of the moving block 101 along the main body 100.

[0073] As can be seen from Figure 1, in this embodiment, there are two first drive units 107, one on each side of the main body 100. This allows the two first drive units 107 to be activated simultaneously, providing equal driving force on both sides of the moving block 101, ensuring stable axial sliding of the moving block 101 along the main body 100. Furthermore, the two first drive units 107 provide a redundant design, resulting in increased reliability.

[0074] In practical applications, there is no limit on the number of the first driving units 107 . For example, there may be at least one first driving unit 107 .

[0075] As can be seen from Figure 1, in this embodiment, the rack 1073 is provided with teeth on both sides in the width direction, the number of gears 1072 is four, two gears 1072 are distributed in a group on both sides of the width direction of the rack 1073, and are engaged with the teeth on the corresponding sides of the rack 1073. Each group of first drive parts 107 has four first drive units 1071, and the output shafts of the first drive units 1071 are connected to the gears 1072 one by one.

[0076] In this way, the four first drive units 1071 can operate simultaneously, driving the four gears 1072 to slide synchronously along the axial direction of the rack 1073 to provide greater driving force and realize the axial sliding of the moving block 101 along the main body 100; at the same time, the four first drive units 1071 have redundant design characteristics and higher reliability.

[0077] In practical applications, there is no limit on the number of first drive units 1071 and gears 1072 in each group of first drive parts 107. The number of first drive units 1071 and gears 1072 in each group of first drive parts 107 can be at least one, and the number of the two can correspond one to one.

[0078] Furthermore, in this embodiment, there is only one rack 1073, each of which is provided with teeth on both sides in the width direction. Two gears 1072 are arranged in a group on either side of the rack 1073 in the width direction. In practice, it is also feasible to arrange four gears 1072 on the same side of the rack 1073, or to arrange the four gears 1072 sequentially along the axial direction of the rack 1073. This arrangement, of course, allows for more efficient use of the space on either side of the rack 1073, reducing the axial dimensions of the main body 100 and the rack 1073, and thereby reducing the overall volume of the heave compensation fixture 1, making it a more preferred technical solution.

[0079] In addition, in practice, the number of racks 1073 can be one or more, such as two racks 1073 , which are arranged in parallel, and each rack 1073 is meshed with two gears 1072 .

[0080] As mentioned above, the rack 1073 is provided on the main body 100. In practice, there is no limitation on the connection method between the rack 1073 and the main body 100. For example, the rack 1073 can be fixed to the main body 100 by welding.

[0081] As previously mentioned, the first drive unit 1071 is provided on the moving block 101. Specifically in this embodiment, as shown in FIG5 , the first drive unit 1071 has an annular connecting plate 1071 a. The first drive unit 1071 is located outside the moving block 101. The connecting plate 1071 a and the corresponding outer side wall of the moving block 101 are fixedly connected by connecting members, such as bolts. The output shaft of the first drive unit 1071 passes through the corresponding side wall of the moving block 101 and is connected to the gear 1072. At the same time, in order to improve the smoothness of the rotation of the output shaft, a rotating bearing can be installed inside the corresponding side wall of the moving block 101, and the output shaft passes through the rotating bearing and is connected to the gear 1072.

[0082] In practice, there is no limitation on the connection method between the connecting plate 1071a and the corresponding outer side wall of the moving block 101. For example, welding and fixing the connecting plate 1071a and the corresponding outer side wall of the moving block 101 is also feasible.

[0083] It is understood that the corresponding side walls of the moving block 101 must be provided with a through-hole for mounting a rotation bearing and for the output shaft of the first drive unit 1071 to pass through. In practical applications, the inner diameter of the through-hole can be larger than the diameter of the output shaft of the first drive unit 1071, so that there is a gap between the output shaft of the first drive unit 1071 and the inner wall of the through-hole when passing through the through-hole, preventing friction between the through-hole and the output shaft of the first drive unit 1071 from hindering the normal rotation of the output shaft. In this case, it is also feasible to not provide a rotation bearing.

[0084] As mentioned above, the output shaft of the first drive unit 1071 and the gear 1072 are connected one-to-one, and the specific connection method is not limited. For example, the output shaft of the first drive unit 1071 and the gear 1072 can be welded, screwed or connected by a wedge key.

[0085] In this embodiment, the rack 1073 is disposed on the main body 100, and the first drive unit 1071 is disposed on the moving block 101. In actual applications, the rack 1073 is disposed on the moving block 101, and the first drive unit 1071 is disposed inside the main body 100. It is also feasible that the output shaft of the first drive unit 1071 passes from the inside to the outside and connects with the gear 1072. Of course, the main body 100 has a larger axial space for installing the rack 1073, and it is more convenient to install the first drive unit 1071 on the moving block 101. Therefore, the arrangement of this embodiment is a more preferred technical solution.

[0086] In actual applications, the first drive part 107 is not limited to the combination of the above-mentioned rack and pinion transmission unit and the first drive unit 1071. For example, the first drive part 107 can also include a screw and nut transmission unit and a first drive unit 1071. The screw and nut transmission unit includes a screw and a nut mounted on the screw. The screw and the nut are threadedly connected. The screw is rotatably installed on the main body 100. The extension direction of the screw is the axial direction of the main body 100. The nut is arranged on the moving block 101. The first drive unit 1071 can be a driving motor. The output shaft of the driving motor is connected to the screw. The output shaft of the driving motor can drive the screw to rotate. Under the action of the threaded cooperation of the screw and the nut, the nut moves along the extension direction of the screw, thereby realizing the axial sliding of the moving block 101 along the main body 100.

[0087] Furthermore, in this embodiment, the driving mechanism further includes a second driving unit 108, specifically:

[0088] As shown in Figure 5, the second driving part 108 includes a first connecting arm 1081 and a second connecting arm 1082, and the first connecting arm 1081 and the second connecting arm 1082 are hinged through a hinge shaft 1083. The free end of the first connecting arm 1081 is hinged to the main body 100, and the free end of the second connecting arm 1082 is hinged to the moving block 101. The second driving part 108 also includes a second driving unit 1084, and the second driving unit 1084 is hinged to the main body 100. The output shaft of the second driving unit 1084 is hinged to the hinge shaft 1083. The output shaft of the second driving unit 1084 can be extended or retracted, and drive the first connecting arm 1081 and the second connecting arm 1082 to rotate around the hinge shaft 1083 to adjust the angle between the first connecting arm 1081 and the second connecting arm 1082. The second driving unit 1084 is electrically connected to the controller 105.

[0089] In this way, when it is necessary to control the moving block 101 to perform heaving and sinking movements, the controller 105 can control the output shaft of the second drive unit 1084 to extend or retract, wherein, when the output shaft of the second drive unit 1084 gradually extends, the first connecting arm 1081 and the second connecting arm 1082 rotate around the hinge shaft 1083 and approach each other, the angle between the first connecting arm 1081 and the second connecting arm 1082 gradually decreases, and the moving block 101 moves downward along the axial direction of the main body 100; when the output shaft of the second drive unit 1084 gradually retracts, the first connecting arm 1081 and the second connecting arm 1082 rotate around the hinge shaft 1083 and move away from each other, the angle between the first connecting arm 1081 and the second connecting arm 1082 gradually increases, and the moving block 101 moves upward along the axial direction of the main body 100.

[0090] In this embodiment, the second drive unit 1084 is a hydraulic cylinder and also includes an accumulator 109. As shown in FIG6 , the accumulator 109 is disposed within the main body 100 and is used to provide a power source for the hydraulic cylinder. In practical applications, the second drive unit 1084 can also be a pneumatic cylinder, an electric cylinder, etc.

[0091] As can be seen from Figure 6, in this embodiment, there are two second drive units 108, one on each side of the main body 100. This allows the two second drive units 108 to be activated simultaneously, providing equal driving force on both sides of the moving block 101, ensuring stable axial sliding of the moving block 101 along the main body 100. Furthermore, the two second drive units 108 provide a redundant design, resulting in increased reliability.

[0092] In practical applications, there is no limit on the number of the second driving units 108 . For example, there may be at least one second driving unit 108 .

[0093] As can be seen from Figure 1, in this embodiment, two first connecting grooves a are provided on the left and right side walls of the main body 100 and the moving block 101, and the first connecting arm 1081 and the second connecting arm 1082 have the same structure, both including two long arm portions 108a, and the free ends of the two long arm portions 108a are hinged to the corresponding first connecting grooves a through pins, and the width between the two long arm portions 108a gradually decreases along the end away from the main body 100 / moving block 101, and the two long arm portions 108a are connected to each other through multiple connecting arm portions 108b, and the ends of the two long arm portions 108a away from the main body 100 / moving block 101 are rotatably connected to the hinge shaft 1083, thereby realizing the hinge of the first connecting arm 1081 and the second connecting arm 1082.

[0094] It can be seen that in this embodiment, the first connecting arm 1081 is connected to the main body 100 through two connecting points, and the second connecting arm 1082 is connected to the moving block 101 through two connecting points, and the connection stability is higher.

[0095] In actual applications, there is no restriction on the specific structure of the first connecting arm 1081 and the second connecting arm 1082, as long as the two are hinged to each other to achieve the connection between the main body 100 and the movable block 101. If the structural strength meets the requirements, the first connecting arm 1081 and the second connecting arm 1082 can also be a long rod-shaped structure.

[0096] As shown in FIG1 , in this embodiment, two sets of connecting assemblies 110 are provided on the left and right side walls of the movable block 101. The connecting assemblies 110 specifically include two opposing first lug plates 1101, with a first connecting groove a formed between the two first lug plates 1101. Of course, in practical applications, the structure of the connecting assemblies 110 is not limited. For example, the connecting assemblies 110 may also include a single connecting plate. The free end of the long arm portion 108a is hingedly connected to the connecting plate via a pin.

[0097] As shown in FIG1 , in this embodiment, the main body 100 is further processed with a second connecting groove b, which is located above the first connecting groove a. The connecting end of the second driving unit 1084 is hinged inside the second connecting groove b through a pin.

[0098] In practical applications, there is no limitation on the connection method between the second drive unit 1084 and the main body 100. For example, the main body 100 may be provided with a connecting plate, and the second drive unit 1084 is hinged to the connecting plate through a pin shaft.

[0099] In addition, in this embodiment, the main body 100 specifically includes a base 1001 and a vertical beam 1002. The base 1001 is welded and fixed to the lower end of the vertical beam 1002. The width of the base 1001 is greater than the width of the vertical beam 1002. The second drive unit 1084 and the first connecting arm 1081 are both hinged to the base 1001. In actual applications, it is also feasible to form the base 1001 and the vertical beam 1002 as an integral part.

[0100] As can be seen from the foregoing, the heave compensation fixture 1 of the present invention is provided with both a first drive unit 107 and a second drive unit 108 for realizing the axial sliding of the movable block 101 along the main body 100. In actual applications, the heave compensation fixture 1 can also be provided with only the first drive unit 107 or only the second drive unit 108. Of course, in this embodiment, the drive mechanism includes both the first drive unit 107 and the second drive unit 108. First, the heave compensation function is a dual-drive compensation mechanism with a redundant design feature and high reliability. At the same time, the two drive units can provide a wider range of driving force. When the heave compensation fixture 1 is connected to a heavier unit component, the two drive units can be started simultaneously to provide a greater driving force to move the movable block 101 for heave compensation. When the heave compensation fixture 1 is connected to a lighter unit component, the two drive units can be selectively started to move the movable block 101 for heave compensation, thereby reducing energy consumption. It can be seen that the heave compensation fixture 1 of the present invention has a wider range of applications.

[0101] Please continue to refer to Figure 1. As mentioned above, the moving block 101 is slidably installed on the main body 100. Specifically in this embodiment, the front and rear side walls of the main body 100 are provided with guide rails 100a. The guide rails 100a extend along the axial direction of the main body 100. The guide rails 100a are provided with snap-fitting grooves c on both sides of the width direction. The snap-fitting grooves c extend along the axial direction of the main body 100. Two snap-fitting protrusions 101a are provided on the inner side of the corresponding side walls of the moving block 101. The snap-fitting protrusions 101a are roughly L-shaped, and the free ends of the snap-fitting protrusions 101a are slidably installed inside the corresponding snap-fitting grooves c.

[0102] In this way, the snap-fit ​​protrusion 101a can slide along the extension direction of the snap-fit ​​groove c, and the snap-fit ​​protrusion 101a and the snap-fit ​​groove c are limited to each other along the first direction and the second direction. The first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other. Taking the perspective of Figure 1 as an example, one of the first direction and the second direction is the front-to-back direction, and the other is the left-to-right direction.

[0103] In this way, the cooperation between the snap-in groove c and the snap-in protrusion 101a can guide the movable block 101, so that the movable block 101 can only slide along the extension direction of the snap-in groove c; at the same time, the snap-in groove c and the snap-in protrusion 101a limit each other along the first direction and the second direction, and the first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other, that is, in a plane perpendicular to the axial direction of the main body 100, the snap-in groove c and the snap-in protrusion 101a limit each other, ensuring that the movable block 101 does not move in other directions except the axial direction of the main body 100, thereby ensuring the position accuracy of the movable block 101.

[0104] In this embodiment, guide rails 100a are provided on both the front and rear side walls of the main body 100, and engaging protrusions 101a are provided on the inner sides of both the front and rear side walls of the movable block 101. In practical applications, there is no limit on the number of guide rails 100a provided on the main body 100. For example, the number of guide rails 100a can be at least one. When the number of guide rails 100a is one, the guide rail 100a can be provided on the front side wall or the rear side wall of the main body 100. Of course, if there is sufficient space on the left and right side walls of the main body 100, it is also feasible to provide the guide rail 100a on the left or right side wall of the main body 100. The movable block 101 can be provided with engaging protrusions 101a on the side wall corresponding to the guide rail 100a.

[0105] In this embodiment, the guide rail 100a is provided with engaging grooves c on both sides in the width direction, and the movable block 101 is provided with two corresponding engaging protrusions 101a. In practical applications, the number and shape of the engaging grooves c provided on the guide rail 100a are not limited. For example, there may be one engaging groove c provided in the middle of the guide rail 100a, and the engaging groove c is roughly T-shaped. The movable block 101 is provided with a corresponding engaging protrusion 101a, and the engaging protrusion 101a is also T-shaped and slidably mounted within the engaging groove c. In this case, the cooperation between the engaging protrusion 101a and the engaging groove c can also serve to limit the movable block 101 in the first direction and the second direction.

[0106] In addition, in actual applications, it is also feasible to provide the guide rail 100 a with a snap-fit ​​protrusion 101 a and the corresponding side wall of the moving block 101 with a snap-fit ​​groove c.

[0107] As can be seen from Figure 1, in this embodiment, the main body 100 has a columnar structure, and the movable block 101 has an annular structure, which is mounted on the outer periphery of the main body 100. In practical applications, the specific structures of the movable block 101 and the main body 100 are not limited. For example, the main body 100 has a frame structure, and the movable block 101 is disposed inside the main body 100 and can slide along the axial direction of the main body 100.

[0108] It can be understood that when the heave compensation tool 1 of the present invention is applied to the offshore installation and operation and maintenance of a floating wind turbine, the heave compensation tool 1 needs to hoist different unit components, such as a tower, a nacelle, a hub, blades or a nacelle-hub assembly. The lifting point positions of different unit components are different. If the second hoisting part 103 is fixed to the movable block 101, when hoisting different unit components, the position of the movable block 511 needs to be moved as a whole by adjusting the position of the hook, which is inconvenient to operate.

[0109] Based on this, the heave compensation tooling 1 of the present invention also includes an adjusting mechanism 111. As shown in Figures 1 to 6, the adjusting mechanism 111 is connected between the moving block 101 and the second lifting part 103. The adjusting mechanism 111 can drive the second lifting part 103 to move along the first direction and the second direction. The first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other.

[0110] Since the second hoisting part 103 is arranged on the moving block 101, and the moving block 101 can move along the axial direction of the main body 100, the second hoisting part 103 is first adjustable along the axial direction of the main body 100; at the same time, the setting of the above-mentioned adjustment mechanism 111 makes the second hoisting part 103 adjustable along the first direction and the second direction, and the first direction, the second direction and the axial direction of the main body 100 are perpendicular to each other. Therefore, the hoisting position of the second hoisting part 103 can actually be adjusted to any desired position, which is suitable for dynamic hoisting of different unit components, making the heave compensation tool 1 of the present invention highly versatile.

[0111] Specifically, as shown in Figures 1 and 4, the adjustment mechanism 111 includes a first screw-nut transmission unit and a third drive unit 1111. The first screw-nut transmission unit includes a first screw rod 1112 and a first nut 1113 that are threaded together. The first screw rod 1112 extends along a first direction and is rotatably mounted on the moving block 101. The output shaft of the third drive unit 1111 is connected to the first screw rod 1112 for driving the first screw rod 1112 to rotate.

[0112] The adjusting mechanism 111 also includes an adjusting arm 1114 and a fourth driving unit 1115. The adjusting arm 1114 and the first nut 1113 are connected as a whole. The fourth driving unit 1115 is arranged on the lower side wall of the adjusting arm 1114. The output shaft of the fourth driving unit 1115 can be extended or retracted along the second direction. The output shaft of the fourth driving unit 1115 is connected to the second lifting part 103. The third driving unit 1111 and the fourth driving unit 1115 are both electrically connected to the controller 105.

[0113] The third driving unit 1111 may be a driving motor, and the fourth driving unit 1115 may be a power mechanism such as a cylinder, a hydraulic cylinder, or an electric cylinder that can generate linear displacement.

[0114] When the heave compensation tool 1 of the present invention is hoisting different unit components, the third drive unit 1111 and the fourth drive unit 1115 can be controlled by the controller 105 to act. Specifically, the controller 105 controls the output shaft of the third drive unit 1111 to rotate, and the output shaft of the third drive unit 1111 can drive the first screw rod 1112 to rotate synchronously. Under the threaded cooperation of the first screw rod 1112 and the first nut 1113, the first nut 1113 can move along the axial direction of the first screw rod 1112, that is, the first nut 1113 can move along the first direction. Since the adjusting arm 1114 and the first nut 1113 are connected as a whole, the adjusting arm 1114 can also move along the first direction, and the second hoisting part 10 The fourth driving unit 1115 is connected to the adjusting arm 1114, thereby adjusting the lifting point position of the second lifting part 103 along the first direction; the output shaft of the fourth driving unit 1115 extends along the second direction, and the controller 105 controls the output shaft of the fourth driving unit 1115 to extend or retract, thereby adjusting the lifting point position of the second lifting part 103 along the second direction, thereby achieving horizontal adjustment of the lifting point position of the second lifting part 103, so that the lifting point position of the second lifting part 103 can correspond to the lifting point on the lifting fixture of different unit components, facilitating the connection between the second lifting part 103 and the lifting fixture of different unit components, and being suitable for dynamic lifting of different unit components, thereby ensuring that the heave compensation tool of the present invention has high versatility.

[0115] As can be seen from Figures 1 to 6, in this embodiment, the second lifting part 103 has four hanging seats 1031, each hanging seat 1031 has a hanging point, and two hanging seats 1031 are arranged in a group on the front and rear side walls of the moving block 101. The number of adjustment mechanisms 111 is also four, and the hanging seats 1031 are connected to the moving block 101 one by one through the adjustment mechanism 111.

[0116] In this way, the second lifting part 103 can be connected to the lifting equipment of different unit components through four lifting points. Of course, in actual applications, there is no limit to the number of hanging seats 1031 or hanging points, as long as the lifting stability of the unit components can be guaranteed. For example, the number of hanging seats 1031 can also be three.

[0117] At the same time, each adjustment mechanism 111 can adjust the horizontal position of a hanger 1031. When the distance between the two lifting points on the same side of the hangers of different unit components is different, in the two adjustment mechanisms 111 on the same side, the two third drive units 1111 can rotate in opposite directions, so that the two adjustment arms 1114 approach each other or move away from each other, so as to adjust the distance between the two hangers 1031 on the same side, and ensure that the positions of the lifting points and the lifting points can correspond one to one; when the distance between the two lifting points on different sides of the hangers of different unit components is different, in the corresponding two adjustment mechanisms 111, the output shafts of the two fourth drive units 1115 can be extended or retracted at the same time, so that the two hangers 1031 on different sides approach each other or move away from each other, so as to adjust the distance between the two hangers 1031 on different sides.

[0118] In practical applications, the two adjustment mechanisms 111 on the same side can also share the same third drive unit 1111 and the same first screw rod 1112. Specifically, the peripheral wall of the first screw rod 1112 is provided with external threads, and the external threads at both ends of the first screw rod 1112 have opposite rotation directions. The first nuts 1113 in the two adjustment mechanisms 111 are mounted on both ends of the first screw rod 1112, and the output shaft of the third drive unit 1111 is connected to the first screw rod 1112. In this way, the output shaft of the third drive unit 1111 can drive the first screw rod 1112 to rotate synchronously. Since the external threads at both ends of the first screw rod 1112 have opposite rotation directions, the two first nuts 1113 can move in a direction closer to or farther away from each other under the threaded cooperation of the first screw rod 1112 and the two first nuts 1113, thereby adjusting the distance between the two suspension seats 1031 on the same side.

[0119] In addition, in actual applications, the position switching of the adjusting arm 1114 along the first direction is not limited to the combination of the above-mentioned first screw-nut transmission unit and the drive motor. For example, the output shaft of the third drive unit 111 can be directly connected to the adjusting arm 1114, and the third drive unit 111 is a power mechanism such as a cylinder, a hydraulic cylinder, or an electric cylinder that can generate linear displacement.

[0120] Please continue to refer to Figure 1. In this embodiment, the adjusting arm 1114 includes a first adjusting arm 1114a and a second adjusting arm 1114b set at an angle. The first adjusting arm 1114a extends along the second direction, and the second adjusting arm 1114b extends obliquely upward in a direction away from the first adjusting arm 1114a. The adjusting mechanism 111 includes two first screw-nut transmission units, and the two first screw-nut transmission units are arranged up and down. The free end of the first adjusting arm 1114a is connected to the first nut 1113 in the first screw-nut transmission unit located at the lower end, and the free end of the second adjusting arm 1114b is connected to the first nut 1113 in the first screw-nut transmission unit located at the upper end. The adjusting mechanism 111 also includes two third driving units 1111, and the third driving units 1111 are connected one-to-one with the first screw 1112 in the first screw-nut transmission unit.

[0121] Thus, during operation, controller 105 can control the two third drive units 1111 to operate synchronously, achieving position adjustment of adjustment arm 1114 along the first direction. This provides a redundant design and enhanced reliability. Furthermore, within adjustment arms 1114, first adjustment arm 1114a serves as the primary load-bearing mechanism, while second adjustment arm 1114b acts as a reinforcement, enhancing the structural strength of adjustment arm 1114 and the stability of the unit component during hoisting, thereby improving the reliability of the heave compensation fixture 1 of the present invention.

[0122] In practical applications, the specific structure of the adjustment arm 1114 is not limited. For example, it is feasible to only provide the first adjustment arm 1114 a under the premise of ensuring the structural strength of the first adjustment arm 1114 a.

[0123] Furthermore, as shown in Figure 1 , the lower sidewall of the first adjustment arm 1114a is provided with a T-shaped guide groove d extending along the second direction. The connecting end of the hanger 1031 is generally T-shaped or I-shaped and is slidably mounted within the guide groove d. In this manner, the guide groove d guides the hanger 1031, ensuring that the hanger 1031 can only slide along the extending direction of the guide groove d under the control of the fourth drive unit 1115, thereby ensuring the positional accuracy of the hanger 1031. In practice, the fourth drive unit 1115 can also be disposed within the guide groove d.

[0124] As shown in Figures 4 and 5, the hanger 1031 specifically includes a slider 1031a located inside the guide groove. The slider 1031a is roughly T-shaped or I-shaped. The slider 1031a forms the aforementioned connecting end. The bottom wall of the slider 1031a is connected to two oppositely arranged second ear plates 1031b. The lifting ring 1031c is hinged between the two second ear plates 1031b through a pin shaft. The lifting ring 1031c is connected to a shackle 1031d. The shackle 1031d is used to connect to the sling of the unit component to be installed through the sling 106.

[0125] As mentioned above, the first screw rod 1112 can be rotatably mounted on the moving block 101. Specifically in this embodiment, the side wall of the moving block 101 is connected to two oppositely arranged third ear plates 112, and the two third ear plates 112 are arranged along the first direction. The two third ear plates 112 are correspondingly provided with mounting holes, and bearings are installed inside the mounting holes. The first screw rod 1112 is mounted on the moving block 101 through bearings at both ends to ensure the smooth rotation of the first screw rod 1112.

[0126] It can be understood that when the heave compensation tool 1 of the present invention is used for docking installation of the unit component 2 to be installed and the installed unit component 4, it must be ensured that the reference lines on the flanges of the unit components can be aligned with each other. Therefore, the heave compensation tool 1 of the present invention also includes a rotating mechanism 113. As shown in Figure 1, the rotating mechanism 113 is connected between the main body 100 and the first hoisting part 102. The rotating mechanism 113 can drive the main body 100 and the moving block 101 to rotate relative to the first hoisting part 102, thereby causing the unit component 2 to be installed connected to the moving block 101 to rotate, thereby ensuring that the reference lines of the unit component 2 to be installed and the installed unit component 4 are aligned and the direction is accurate when docking.

[0127] Among them, the rotating mechanism 113 specifically includes a connecting bearing 1131, the lower end of the outer ring of the connecting bearing 1131 is connected to the main body 100, the upper end of the outer ring of the connecting bearing 1131 is circumferentially provided with an engaging tooth portion 1131a, the inner ring of the connecting bearing 1131 is connected to the first lifting portion 102, the rotating mechanism 113 also includes a fifth driving unit and a driving tooth portion 1132, the driving tooth portion 1132 and the engaging tooth portion 1131a are engaged with each other, the fifth driving unit and the driving tooth portion 1131a are transmission-connected, the fifth driving unit is used to drive the driving tooth portion 1132 to rotate, and the fifth driving unit is electrically connected to the controller 105.

[0128] In this way, when working, the fifth driving unit can first drive the driving tooth portion 1132 to rotate. Under the meshing action of the driving tooth portion 1132 and the meshing tooth portion 1131a, the driving tooth portion 1132 drives the outer ring of the connecting bearing 1131 to rotate. Since the lower end of the outer ring of the connecting bearing 1131 is connected to the main body 100, the main body 100 and the moving block 101 can rotate synchronously with the outer ring of the connecting bearing 1131, thereby driving the to-be-installed unit component 2 to rotate, ensuring that the base lines of the to-be-installed unit component 2 and the installed unit component 4 can be aligned with each other when docking.

[0129] In this embodiment, the driving tooth portion 1132 is a worm, and the fifth driving unit includes a power component 1133, and a first bevel gear 1134 and a second bevel gear 1135 that are meshed with each other. The output shaft of the power component 1133 is connected to the first bevel gear 1134, and the power component 1133 is used to drive the first bevel gear 1134 to rotate, and the worm is connected to the second bevel gear 1135.

[0130] The power component 1133 may be a drive motor. Thus, during operation, the output shaft of the drive motor rotates to drive the first bevel gear 1134 to rotate synchronously. Under the meshing action of the first bevel gear 1134 and the second bevel gear 1135, the first bevel gear 1134 drives the second bevel gear 1135 to rotate synchronously. Since the worm is connected to the second bevel gear 1135, the second bevel gear 1135 can drive the worm to rotate synchronously, thereby achieving rotation of the outer ring of the connecting bearing 1131 under the meshing action of the worm and the outer ring of the connecting bearing 1131.

[0131] It can be seen that in this embodiment, the first bevel gear 1134 and the second bevel gear 1135 primarily serve to transmit and change the transmission direction, allowing the power component 1133 and the worm to be arranged on adjacent sides of the main body 100. Of course, in actual applications, if there is sufficient installation space on one side of the main body 100, it is also feasible to not provide the first bevel gear 1134 and the second bevel gear 1135, and the output shaft of the power component 1133 can be directly connected to the worm.

[0132] In this embodiment, the drive gear portion 1132 is a worm gear. In practice, the drive gear portion 1132 can also be a drive gear. The drive gear and the outer ring of the connecting bearing 1131 are meshed with gears, and the output shaft of the power component 1133 is directly connected to the drive gear. In this way, the output shaft of the power component 1133 can drive the drive gear to rotate, and the meshing action of the drive gear and the outer ring of the connecting bearing 1131 realizes the rotation of the outer ring of the connecting bearing 1131.

[0133] As can be seen from Figure 1, in this embodiment, two mounting plates 114 are connected to the peripheral wall of the first lifting part 102, and there are two fifth drive units and two drive tooth parts 1132. The fifth drive units and the drive tooth parts 1132 are connected one-to-one to form a drive part, and the drive part is connected to the lower side wall of the corresponding mounting plate 114.

[0134] Of course, in practical applications, the number of drive units is not limited; for example, there can be at least one drive unit. The mounting plate 114 primarily serves to connect the drive units, so the number of mounting plates 114 can be consistent with the number of drive units. The connection method between the first hoisting portion 102 and the mounting plate 114 is not limited; for example, the first hoisting portion 102 and the mounting plate 114 can be secured by welding.

[0135] As mentioned above, the driving part is connected to the lower side wall of the corresponding mounting plate 114. Specifically, as shown in Figure 6, the lower side wall of the mounting plate 114 is connected to two relatively arranged fourth ear plates 115, and a rotating bearing is installed inside the fourth ear plate 115. The driving tooth portion 1132 is installed on the two fourth ear plates 115 through the connecting bearing to ensure smooth rotation of the driving tooth portion 1132; the power component 1133 is fixed to the lower surface of the mounting plate 114 through its fixing seat, and the extension direction of the output shaft of the power component 1133 is perpendicular to the extension direction of the driving tooth portion 1132. The lower side wall of the mounting plate 114 is connected to the fifth ear plate 116, and a rotating bearing is installed inside the fifth ear plate 116. The output shaft of the power component 1133 passes through the inside of the rotating bearing to ensure smooth rotation of the output shaft of the power component 1133.

[0136] As mentioned above, the lower end of the outer ring of the connecting bearing 1131 is connected to the main body 100, and the specific connection method is not limited. For example, the lower end of the outer ring of the connecting bearing 1131 and the main body 100 can be welded and fixed.

[0137] As mentioned above, the inner ring of the connecting bearing 1131 and the first lifting part 102 are connected, and the specific connection method is not limited. For example, the inner ring of the connecting bearing 1131 and the first lifting part 102 can be fixed by bolts, welding, etc.

[0138] Please continue to refer to Figure 1. In this embodiment, the first lifting part 102 specifically includes a lifting beam 1021. The top of the lifting beam 1021 is connected to a lifting seat 1022. The lifting seat 1022 connects the entire heave compensation tooling 1 to the hook 51 of the self-elevating platform installation vessel 5 through a lifting belt 106.

[0139] It is understood that in actual work, the heave compensation tool 1 will inevitably be subjected to forces such as wind loads at high altitudes. In order to ensure that the heave compensation tool 1 and the unit component 2 to be installed are stable at high altitudes and prevent the heave compensation tool 1 and the unit component 2 to be installed from deflecting or shaking due to wind loads, the heave compensation tool 1 of the present invention further includes a self-stabilizing mechanism 117. As shown in FIG6 , the self-stabilizing mechanism 117 includes a telescopic unit 1171, a connecting rope 1172 and a tension sensor 1173. The telescopic unit 117 1 is provided on the main body 100, the telescopic unit 1171 and the connecting rope 1172 are connected to each other, and the end of the connecting rope 1172 away from the telescopic unit 1171 is used to connect to the boom 52 of the crane. The telescopic direction of the telescopic unit 1171 forms an angle with the axial direction of the main body 100. The tension sensor 1173 is provided on the connecting rope 1172. The telescopic unit 1171 is electrically connected to the controller 105. The controller 105 is used to control the telescopic unit 1171 to extend and retract so as to keep the tension of the connecting rope 1172 constant.

[0140] In this way, when the heave compensation tool 1 lifts the unit component 2 to be installed and is in a stable state at high altitude, the tension sensor 1173 detects that the connecting rope 1172 has a preset tension. When the heave compensation tool 1 encounters wind load and deflects, the detection value of the tension sensor 1173 will change, and the detection result will be fed back to the controller 105. The controller 105 will send an action command signal to the telescopic unit 1171 to control the telescopic unit 1171 to perform a telescopic action so that the tension of the connecting rope 1172 returns to the preset tension in the stable state. When the controller 105 receives the detection result of the tension sensor 1173 and finds that it returns to the preset tension, the controller 105 will send a command signal to stop the telescopic unit 1171, thereby ensuring that the heave compensation tool 1 is always in a stable state when lifting the unit component 2 to be installed at high altitude.

[0141] Furthermore, the telescopic unit 1171 specifically includes a drive assembly and an X-shaped telescopic frame 1171a. The drive assembly includes a sixth drive unit 1171b and a second screw-nut transmission unit. The second screw-nut transmission unit includes a second screw 1171c and a second nut 1171d that are threaded together. The second screw 1171c is rotatably mounted on the main body 100. The output shaft of the sixth drive unit 1171b is connected to the second screw 1171c for driving the second screw 1171c to rotate. The sixth drive unit 1171b is electrically connected to the controller 105.

[0142] The X-shaped telescopic frame 1171a has two connection ends at one end away from the connection rope 1172, one of which is hinged to the main body 100, and the other is connected to the second nut 1171d.

[0143] The sixth drive unit 1171b may be a drive motor. During operation, when the sixth drive unit 1171b receives an extension instruction from the controller 105, the sixth drive unit 1171b is able to drive the second screw rod 1171c to rotate. Under the threaded cooperation between the second screw rod 1171c and the second nut 1171d, the second nut 1171d moves along the axial direction of the second screw rod 1171c, and the two telescopic arms in the X-shaped telescopic frame 1171a approach each other around the hinge, the angle between the two telescopic arms gradually decreases, and the X-shaped telescopic frame 1171a gradually extends. When the sixth drive unit 1171b receives the contraction instruction from the controller 105, the sixth drive unit 1171b can drive the second screw rod 1171c to rotate in the opposite direction. Under the threaded cooperation of the second screw rod 1171c and the second nut 1171d, the second nut 1171d moves in the opposite direction along the axial direction of the second screw rod 1171c, and the two telescopic arms in the X-shaped telescopic frame 1171a move away from each other around the hinge, the angle between the two telescopic arms gradually increases, and the X-shaped telescopic frame 1171a gradually contracts.

[0144] As mentioned above, the second screw rod 1171c is rotatably mounted on the main body 100. Specifically, the main body 100 is connected to two oppositely arranged sixth ear plates 118, and the sixth ear plates 118 are internally installed with inner bearings. The second screw rod 1171c is connected to the sixth ear plates 118 through the inner bearings at both ends to ensure the smooth rotation of the second screw rod 1171c.

[0145] As mentioned above, one of the connecting ends of the X-shaped telescopic frame 1171a is hinged to the main body 100. Specifically in this embodiment, a connecting block 119 is fixed to the side wall of the main body 100. The specific fixing method is not limited. For example, the connecting block 119 and the main body 100 can be fixed by welding. The end wall of the connecting block 119 facing away from the main body 100 is connected to two oppositely arranged ear plates, and one of the connecting ends of the X-shaped telescopic frame 1171a is hinged between the two ear plates through a pin shaft.

[0146] In practical applications, there is no limit to the number of self-stabilizing mechanisms 117 , for example, there can be at least one self-stabilizing mechanism 117 . In this embodiment, the heave compensating fixture 1 is provided with two self-stabilizing mechanisms 117 , providing two connection points between the main body 100 and the boom 52 of the crane, further improving the posture stability of the heave compensating fixture 1 at high altitudes.

[0147] In this embodiment, the telescopic unit 1171 is in the form of a drive assembly and an X-shaped telescopic frame 1171a. In actual applications, the telescopic unit 1171 can also be a cylinder / hydraulic cylinder, and the push rod of the cylinder / hydraulic cylinder is directly connected to the connecting rope 1172.

[0148] As previously described, the telescopic unit 1171's telescopic direction forms an angle with the axial direction of the main body 100. In this embodiment, the telescopic unit 1171's telescopic direction and the axial direction of the main body 100 are perpendicular to each other. It will be appreciated that, in practice, the telescopic unit 1171's telescopic direction and the axial direction of the main body 100 may not be perpendicular to each other, as long as the constant tension of the connecting rope 1172 can be maintained by the telescopic unit 1171's telescopic movement.

[0149] In addition, as can be seen from FIG1 , in this embodiment, the heave compensation tool 1 is further provided with a power supply unit 120 . The power supply unit 120 is arranged at the upper end of the main body 100 and is used to provide power for the entire heave compensation tool 1 .

[0150] In practical applications, there is no restriction on the arrangement position of the power supply unit 100 , and the power supply unit 100 may specifically be a diesel generator or the like.

[0151] The present invention further provides a heave compensation system, which includes the above-mentioned heave compensation tool 1, wherein:

[0152] In the heave compensation tool 1, the first hoisting part 102 is connected to the lifting device, and the second hoisting part 103 is connected to the unit component 2 to be installed;

[0153] The system further includes a second sensor 6 , which is used to detect the heave state of the installed unit component 4 . The second sensor 6 is electrically connected to the controller 105 .

[0154] The heave compensation system of the present invention includes the aforementioned heave compensation tooling 1, and therefore has the same technical effects as the aforementioned heave compensation tooling 1, which will not be described in detail here.

[0155] When the heave compensation system of the present invention is used for offshore installation of a jack-up platform and operation and maintenance of a floating wind turbine, the lifting device is the hook 51 of the jack-up platform installation vessel 5 , and the second sensor 6 can be provided on the floating foundation 3 .

[0156] The present invention further provides a heave compensation method, based on the above-mentioned heave compensation system, comprising the following steps:

[0157] The heave state of the installed unit component 4 is detected, and the moving block 101 is controlled to perform heave compensation so that the installed unit component 4 and the moving block 101 have the same heave displacement.

[0158] The heave compensation method of the present invention is based on the aforementioned heave compensation system, and therefore has the same technical effects as the aforementioned heave compensation system, which will not be described in detail herein.

[0159] It can be understood that this heave compensation method is not only applicable to the docking of unit components, but also to the replacement of unit components, ensuring that the hoisted unit components and the unit components connected to the floating foundation 3 always remain relatively stationary, the lifting force of the crane always remains unchanged, and loosening or tightening the connecting bolts is more effective and safer.

[0160] Furthermore, as previously described, the heave compensation fixture 1 further includes an adjustment mechanism 111, which is connected between the moving block 101 and the second hoisting portion 103. The adjustment mechanism 111 can drive the hoisting position of the second hoisting portion 103 to move along a first direction and a second direction. The first direction, the second direction, and the axial direction of the main body 100 are perpendicular to each other. Therefore, before hoisting the unit component 2 to be installed, the heave compensation method further includes the following steps:

[0161] The control adjustment mechanism 111 is activated to move the second hoisting portion 103 along the first direction and the second direction, so that the second hoisting portion 103 corresponds to the hoisting point on the hoisting device for installing the unit component 2 .

[0162] In this way, it is suitable for dynamic lifting of different unit components, thereby improving the versatility of the heave compensation tooling and the heave compensation system of the present invention.

[0163] Furthermore, as described above, the heave compensation tool 1 further includes a rotating mechanism 113, which is connected between the main body 100 and the first hoisting portion 102. The rotating mechanism 113 can drive the main body 100 to rotate relative to the first hoisting portion 102. The heave compensation method further includes the following steps:

[0164] The rotation mechanism 113 is controlled to operate and drive the main body 100 to rotate relative to the first hoisting portion 102 so that the flange reference line of the unit component 2 to be installed can be aligned with the flange reference line of the installed unit component 3.

[0165] Furthermore, as described above, in the heave compensation system, the heave compensation tool 1 further includes a self-stabilizing mechanism 117, which includes a telescopic unit 1171, a connecting rope 1172, and a tension sensor 1173. The telescopic unit 1171 is provided on the main body 100, and the telescopic unit 1171 and the connecting rope 1172 are connected to each other. The telescopic direction of the telescopic unit 1171 forms an angle with the axial direction of the main body 100. The tension sensor 1173 is provided on the connecting rope 1172. The telescopic unit 1171 and the tension sensor 1173 are both electrically connected to the controller 105. The controller 105 is used to control the telescopic unit 1171 to extend and retract so that the tension of the connecting rope 1172 is constant. The heave compensation method further includes the following steps:

[0166] The tension of the connecting rope 1172 is detected. When the tension of the connecting rope 1172 deviates from the preset tension, the telescopic unit 1171 is controlled to be telescopic. When the tension of the connecting rope 1172 returns to the preset tension, the telescopic unit 1171 is controlled to stop moving.

[0167] The preset tension is the tension of the connecting rope 1172 when the lifting unit components of the heave compensation tool 1 are in a stable state at high altitude.

[0168] As configured above, the connecting rope 1172 is adjusted by the telescopic unit 1171 to always have a preset tension, which can ensure that the lifting unit components of the heave compensation tooling 1 are always in a stable state at high altitudes.

[0169] The above describes in detail the heave compensation fixture, heave compensation system, and heave compensation method provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The above examples are intended only to facilitate understanding of the method and core concepts of the present invention. It should be noted that those skilled in the art will be able to make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications fall within the scope of protection of the claims.

Claims

1. A heave compensation tool, comprising: Main body; A moving block, slidably mounted on the main body; A driving mechanism, used for driving the moving block to slide along the axial direction of the main body; A first sensor, used for detecting the heave state of the moving block; Wherein, the main body is provided with a first hoisting part, and the moving block is provided with a second hoisting part.

2. The heave compensation tooling according to claim 1, wherein: The first sensor is disposed on the moving block.

3. The heave compensation tooling according to claim 1, wherein: The driving mechanism and the first sensor are both electrically connected to a controller, and the controller is used to control the action of the driving mechanism so that the moving block has a preset heave displacement.

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

5. The heave compensation tooling according to any one of claims 1 to 4, wherein: The heave compensation tool further includes a rotating mechanism, which is connected between the main body and the first hoisting part, and can drive the main body to rotate relative to the first hoisting part.

6. The heave compensation tooling according to any one of claims 1 to 4, wherein: The heave compensation tool further includes a self-stabilizing mechanism, which is used to connect the main body and the boom of the lifting device and adjust the tension between the main body and the boom to stabilize the posture of the heave compensation tool.

7. The heave compensation tooling according to claim 6, wherein: The self-stabilizing mechanism includes a telescopic unit, a connecting rope and a tension sensor. The telescopic unit is arranged on the main body. The telescopic unit and the connecting rope are connected to each other. An end of the connecting rope away from the telescopic unit is used to connect the boom.

8. The heave compensation tooling according to claim 7, wherein: An angle is formed between the telescopic direction of the telescopic unit and the axial direction of the main body.

9. The heave compensation tooling according to claim 7, wherein: The tension sensor is arranged on the connecting rope.

10. The heave compensation tooling according to claim 9, wherein: The telescopic unit and the tension sensor are both electrically connected to a controller, and the controller is used to control the telescopic unit to extend and retract so as to keep the tension of the connecting rope constant.

11. A heave compensation system, comprising the heave compensation tooling according to any one of claims 1 to 10, in, The first hoisting part of the heave compensation tool is connected to the lifting device, and the second hoisting part is connected to the unit component to be installed; It also includes a second sensor, which is used to detect the heave state of the installed unit components, and the second sensor is electrically connected to the controller.

12. A heave compensation method, based on the heave compensation system of claim 11, comprising the following steps: The heave state of the installed unit component is detected, and the moving block is controlled to perform heave compensation so that the installed unit component and the moving block have the same heave displacement.

13. The heave compensation method according to claim 12, wherein: Before hoisting the unit components to be installed, the heave compensation method further includes the following steps: The regulating mechanism is controlled to move, and the second hoisting part is driven to move along the first direction and the second direction, so that the hoisting position of the second hoisting part corresponds to the hoisting point position on the hoisting device for installing the unit component.

14. The heave compensation method according to claim 12, further comprising the following steps: The rotation mechanism is controlled to move, and the main body is driven to rotate relative to the first hoisting part, so that the flange reference line of the unit component to be installed can be aligned with the flange reference line of the installed unit component.

15. The heave compensation method according to claim 12, further comprising the following steps: The tension of the connecting rope is detected. When the tension of the connecting rope deviates from the preset tension, the telescopic unit is controlled to be telescopic. When the tension of the connecting rope returns to the preset tension, the telescopic unit is controlled to stop moving.

Images