• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:

    公开号:BE1020670A4
    申请号:E201200166
    申请日:2012-03-13
    公开日:2014-03-04
    发明作者:Johannes Andreas Maria Jacobs；Peter Georges Nelly Roose
    申请人:High Wind N V；
    IPC主号:
    专利说明:

    Device and method for assembling a structure at sea
    The invention relates to a device for assembling a structure at sea. The invention also relates to a method for assembling a structure at sea. The invention relates in particular to a device and method for assembling a offshore wind turbine.
    A growing number of structures that are being built, maintained and repaired at sea. A typical example is an offshore wind turbine that is built from a gondola or nacelle, which is supported by a mast that can be more than 10 meters high. The mast comprises different mast segments that are usually placed on top of each other in succession. The gondola relates to the housing on the mast in which a large part of the required equipment is located, and which alone can have a weight of more than 350 tons. The wind turbine is further provided with a hub on which a number of rotor blades are mounted. The hub forms the connection between the rotor blades of the wind turbine and its axis. The rotor blades, which can have a length of more than 70 meters, convert the movement energy of the wind into a rotating movement of the shaft. The wind turbines which are nowadays very common are equipped with three rotor blades, whereby the rotor blades can rotate along their longitudinal axis. This allows them to take the optimum position at any wind speed, so that an optimum yield is achieved. They can thus also be turned out of the wind at high wind speeds by means of a so-called pitch installation. A typical wind turbine is further provided with a transmission or gearbox to match the generator rotational speed (50 Hz) to the rotational speed of the rotors. The generator converts the movement of the axis into electricity, and supplies the generated electricity to the public grid.
    When assembling, maintaining and / or repairing such large structures at sea, it is customary to transport parts of the structure to a jackable offshore platform moored in the vicinity of where the structure is or is to be erected. For the construction of a wind turbine, for example, the mast components and an assembly of rotor blades mounted on a hub were sailed to the place of construction by a suitable vessel. The jackable platform is provided with a hoisting device that can pick up the supplied parts from the vessel and can take them to the structure to be erected.
    When hoisting and placing parts, it is customary for them to be brought at least temporarily into a position other than the transport position. More in particular, parts must be manipulated to move them from their transport position (the position in which the relevant part was transported) to their mounting position (the position in which the relevant part is added to or on an already existing structure). For example, when hoisting and placing wind turbine rotor blades on an existing or assembled mast, the jackable platform is provided with an auxiliary crane (a so-called 'tailing crane') which ensures that the assembly of hub and rotor blades (for example three) from the horizontal transport condition into vertical direction is at least partially erected in order to be able to mount this assembly on the mast. An end of a rotor blade is hereby attached to the auxiliary valve.
    Due to the wave load on the platform spud poles and the relatively low rigidity of the spud poles, an off-shore jackable platform in the jacked state can show large movements in the horizontal plane: Because the crane is also subject to wind load, parts of the hoist can be lifted structure are subject to considerable horizontal movements with respect to a foundation connected to the earth for the structure or with respect to other parts of the structure that have already been installed. It has been found that installing the various parts of a wind turbine in particular is anything but simple as a result of this, and that unusual movements of hoisted parts can cause great damage to, for example, the wind turbine blades.
    The known device and method are cumbersome. Moreover, the auxiliary crane takes up a lot of space on the platform, which means that valuable space is lost. In addition, working with an auxiliary crane requires good coordination and craftsmanship, in the absence of which danger can arise.
    An object of the present invention is to provide a device with which (parts of) large structures can be assembled at sea, and in particular wind turbines.
    This object is achieved by providing a device for assembling a structure built up from parts at sea, in particular a wind turbine, which device comprises first and second gripping means placed on the deck of a vessel, the first gripping means being adapted for placing first parts on an obstruction present in the sea, and the second gripping means are arranged for placing second parts on the first parts, the first gripping means comprising an erected support structure with which a first gripper can be traced in the longitudinal direction of the support structure for the first parts is connected, and the second gripping means comprise an articulated gripping arm with a second gripper for the second parts. By using respective first and second gripping means, a large structure can be assembled at sea in an efficient manner.
    The invention therefore also relates to a method for assembling a large structure at sea, in particular a wind turbine, using the device according to the invention. The method comprises providing on a vessel a device according to any one of the preceding claims, placing first parts on a foundation present in the sea with the aid of the first gripping means by engaging the first gripper and translating the first gripper in the longitudinal direction of the support structure, and placing the second parts on the first parts by means of the second gripping means by engaging the second gripper and displacing the gripping arm. By providing the first and second gripping means according to the invention, the use of a crane and an auxiliary crane, for example, is avoided.
    The vessel can in principle be any vessel with sufficient carrying capacity for the device, but is preferably a jack-up offshore platform that is docked in the vicinity of the place of erection, more particularly in the vicinity of the foundation present in the sea for building work. As will further become apparent below, the first and second gripping means, as well as the parts of the structure to be assembled, can simply be brought into a transport position in which they can be transported by sea without risk and with relatively great speed to the assembly location. The jackable offshore platform and / or the vessel generally comprise a working deck that can carry a substantial load, and anchoring posts that support the working deck. Each substantially vertical anchoring pole is movable in this direction from a high position during transport to a low position in the anchored position, in which position the posts are supported on the seabed. The height position of the working deck relative to the water level can be changed by shifting the working deck relative to the posts by means of (hydraulic) jacks. The working deck can be jacked up above the water level in the anchored position.
    The structure to be assembled at sea can in principle be any structure. The device and method according to the invention are however particularly suitable for assembling wind turbines at sea, the first parts preferably comprising mast parts and the gondola (or nacelle) with hub of the wind turbine, and the second parts the rotor blades of the wind turbine include. The device according to the invention in this embodiment has the advantage that the first and second gripping means are adapted to gripping the relevant part. Grasping mast parts and placing them on the foundation usually requires a large force but relatively little freedom of movement. Grasping rotor blades, on the other hand, requires relatively little force but a large freedom of movement, while it is advantageous to be able to manipulate the blades in such a way that they catch little wind.
    An embodiment of the device according to the invention is characterized in that the first gripper of the first gripping means is rotatable about the longitudinal axis of the erected support structure. Further advantages are provided by providing an embodiment of the device according to the invention in which the first gripper of the first gripping means is extendable transversely of the longitudinal direction axis of the erected support structure. This makes it possible to grasp first parts that are located at different transverse distances from the support structure. By making the first gripper of the first gripping means rotatable about the longitudinal direction axis of the erected support structure, an engaged first part can be raised from a storage location on the vessel, in particular the working deck of an offshore platform, in a reliable and substantially wind-resistant manner the foundation can be brought, whereby a possible transverse distance to the foundation can be bridged by making the first gripper extendable in this direction.
    An embodiment according to the invention provides a device in which the erected support structure comprises a porch with a transverse beam that can be translated in the longitudinal direction of the support structure to which the first gripper is attached. The crossbar is herein preferably located between the two side legs of the porch.
    A space-saving embodiment of the device according to the invention is characterized in that the erected support structure comprises a monopole which is provided on the outside with a guide for the first gripper. The guide comprises, for example, a pair of guide rails arranged at some radial distance from the monopile, along which the first gripper can slide, for example in the longitudinal direction of the erected support structure. The distance to the monopile can for example be bridged by a truss structure.
    It is furthermore advantageous to provide an embodiment of the device in which the guide is rotatable about the longitudinal direction axis of the erected support structure. Such an embodiment is robust and resistant to the often harsh conditions on site.
    An embodiment of the invention provides a device in which the first gripper is attached to a support platform that engages the guide and is translatable along the guide in the longitudinal direction of the support structure.
    It is also advantageous in this embodiment if the supporting platform is extendable transversely of the longitudinal direction axis of the erected support structure.
    The erected support structure will generally protrude a certain distance above the deck of the vessel or the working deck of the platform. The height of the support structure is preferably at least 15 meters above the working deck of the vessel or platform, more preferably at least 20 meters, and most preferably at least 25 m. However, the height is preferably limited to a maximum of 35 m, whereby the preferred heights are understood to be between 15-35 meters above the working deck of the vessel or platform, more preferably between 20-35 meters, and most preferably between 25-35 meters.
    The second gripping means are adapted to place second parts, in particular the rotor blades of a wind turbine, on the first parts, the second gripping means comprising an articulated gripping arm with a second gripper. In one embodiment the articulated gripping arm for the second parts comprises a telescopically extendable arm. It has been found that the manipulation of the second parts, in particular the rotor blades, can take place relatively independently of the wind speeds and direction. This makes it possible to work in practically all circumstances, where the known device can only be used up to certain wind speeds. This can significantly reduce the assembly time.
    It further has advantages when the articulated gripper arm is attached to the upper side of the support structure with the second gripper for the second parts. In an embodiment in which the erected support structure comprises a monopile which is provided on the outside with a guide for the first gripper, the articulated gripping arm is preferably fixed to the articulation. Moreover, if the guide is rotatable about the longitudinal direction axis of the erected support structure, the articulated gripping arm can hereby also be easily rotated about this longitudinal direction axis, which benefits the reach of the gripping arm.
    With the device according to the invention, a structure made up of components, in particular a wind turbine, can be assembled at sea in an efficient manner. To this end, with the aid of the first gripping means, first parts are placed on a foundation present in the sea by engagement with the first gripper and translation of the first gripper in the longitudinal direction of the support structure, and with the aid of the second gripping means, second parts are placed on the first parts by engagement with the second gripper and displacement of the gripper arm.
    An embodiment of the invention provides a method in which the first gripper of the first gripping means with an engaged first component is rotated about the longitudinal axis of the erected support structure to align the component with the foundation present in the sea ....... .-
    It is furthermore advantageous in an embodiment of the method to extend the first gripper of the first gripping means with an engaged first part transversely of the longitudinal direction axis of the erected support structure to bring the part into alignment with the foundation present in the sea.
    In an embodiment in which the raised support structure comprises a portico with transverse beam that can be translated in the longitudinal direction of the support structure to which the first gripper is attached, the first gripper is translated with an engaged first part in the longitudinal direction of the support structure to bring it to the desired height . In an embodiment in which the erected support structure comprises a monopole which is provided on the outside with a guide for the first gripper, the first gripper is translated along the guide with an engaged first part in the longitudinal direction of the support structure. Better positioning is achieved in this case by a method in which the guide is rotated about the longitudinal direction axis of the erected support structure to bring the part in alignment with the foundation present in the sea.
    The above can be achieved in a more reliable manner by attaching the first gripper to a support platform that engages the guide and translates the support platform along the guide in the longitudinal direction of the support structure. The supporting platform is herein preferably extended transversely to the alignment direction axis of the erected support structure in order to bring the component into alignment with the foundation present in the sea.
    In another embodiment of the method according to the invention, the articulated gripping arm with the second gripper for the second parts is a telescopically extendable arm, and the second gripper with an engaged second part is telescopically extended to bring this part into alignment with the first parts placed at sea.
    Yet another embodiment of the invention comprises a method in which the articulated gripping arm is secured with the second gripper for the second parts at the top of the support structure and the second gripper is brought into alignment with an engaged second part from the top of the support structure with first parts placed on the foundation present in the sea.
    With the device according to the invention, in principle a part of almost any size can be manipulated. A preferred embodiment relates to a tower with a maximum height of at least 20 meters above the working deck of the vessel, more preferably at least 30 meters, even more preferably at least 40 meters.
    The method according to the invention is particularly suitable for assembling a offshore wind turbine, in which embodiment the first parts comprise the mast sections or the gondola with a wind turbine hub, and the second parts the rotor blades of a wind turbine. The hub is optionally provided with rotor blades.
    The invention will now be explained in more detail with reference to the accompanying figures, without being otherwise limited thereto. In the figures: FIG. 1 is a schematic perspective view of an embodiment of the device according to the invention;
    FIG. 2 is a schematic side view of the device shown in FIG. 1 in a step of an embodiment of the method according to the invention;
    FIG. 3 is a schematic side view of the device shown in FIG. 1 in another step of an embodiment of the method according to the invention;
    FIG. 4 is a schematic side view of the device shown in FIG. 1 in a further step of an embodiment of the method according to the invention; and finally FIG. 5 is a schematic side view of the device shown in FIG. 1 in yet another step of an embodiment of the method according to the invention.
    With reference to Figure 1, an embodiment of the device is shown that is specifically intended for assembling a offshore wind turbine 50. The device shown comprises first gripping means 2 placed on the deck 10 of a vessel 1, arranged for placing mast sections 51 on a foundation 52 present in the sea, and second gripping means 3 arranged for placing second parts on the mast sections 5Ί which The present embodiment in any case comprises the rotor blades 55 of the wind turbine 50, and optionally a gondola 53 with hub 54.
    The first gripping means 2 comprise an erected support structure in the form of a monopile 21a, which is provided on the outside with a guide 21bb for a first gripper 22. In the shown embodiment the guide 21 bb comprises a lattice structure with 4 in the longitudinal direction of the lattice structure (corresponding to the vertical direction) side ribs along which a coupling body 20 for the coupling between articulation 21b and the first gripper 22, and if desired also a coupling body 30 for the coupling between articulation 21b and the second gripping means 3 in the longitudinal direction of the lattice structure able to translate and rotate about a substantially vertical axis. In view of the dimensions of rotor blades 55, the height of the support structure 21 is preferably at least 20 meters above the working deck 10 of the vessel 1, more preferably at least 30 meters, and most preferably at least 35 meters above the working deck 10 of the vessel 1. The first gripper 22 is designed in such a way that it is able to clamp and lift the first parts, in this case the mast sections 51 and the gondola 53 with hub 54. The gripper 22 is attached to the coupling body 20 through a support body 23, which engages on the guide 21b and is translatable along the guide 2lbb in the longitudinal direction 24 of the monopile 21a. In the embodiment shown, the guide 21 bb comprises a lattice structure, but other forms of guide are also possible. The first gripper 22 is moved along the guide 2 lbb by means of (not shown) drive means such as a motor.
    In the embodiment shown, the guide 21bb is rotatably mounted about the longitudinal direction axis 24 of the monopole 21a on the monopaal 21a and can therefore be rotated by means of drive means known per se. The support body 23 in the form of a truss structure is extendable in the direction 25 transversely of the longitudinal direction axis 24 of the support structure 21. A mast section 51 accommodated with the first gripper 22 can hereby be brought, for example, from a position in the vicinity of the monopile 21a to a position further away from the monopile 21a.
    The second gripping means 3 comprise an articulated robot or gripping arm which is composed of two members 31 and 32, at least one of which, and preferably member 32, can be telescopically extended. The members 31 and 32 can move relative to each other, with a 6-axis articulated robot being preferred. In many cases, a 3-axis, 4-axis or 5-axis robot can also be used. The gripping arm is attached to the monopile 21a at the top of the monopile 21a by means of a coupling body 30 rotatable about the longitudinal direction axis 24. For carrying out the rotation, drive means (not shown) are present, such as a motor. The free member 32 comprises at its free end a second gripper 33, which is adapted to clamp and lift rotor blades 55. To this end, the second gripper 33 preferably has a clamping geometry which substantially corresponds to the geometry of a cross-section of the rotor blades 55. As is known, such a cross-section generally has the geometry of a wing profile aimed at catching as much wind as possible.
    The vessel 1 comprising, for example, a jack-up offshore platform is in addition to a working deck 10, which can carry a substantial load of typically more than 1000 tons, also provided with anchoring posts 4 supporting the working deck 10. Each anchoring pole 4 extends substantially vertically and is movable in a vertical direction from a high position (not shown) during transport to a low position in the anchored position (shown in figures 1 - 5), in which position the poles 4 are supported on the seabed; The height position of the working deck 10 relative to the water level can be changed by shifting the working deck 10 relative to the posts 4 by means of (hydraulic) jacks 5 ...........
    The vessel or platform 1, provided with the device according to the invention, is generally moored in the immediate vicinity of a foundation 52 for a wind turbine 50 present in the sea. The foundation 52 can herein comprise any type of foundation such as, for example, a jacket, a monopaal or a so-called gravity based foundation (GBF). During the transport of the device, the anchoring posts 4 are in the raised position. Furthermore, on the working deck 10 of the vessel, storage locations are provided for the first and second components in the form of a rack 6 for the rotor blades 55, and a location accessible for the first gripper 22 for the mast sections 51 and the gondolas 53 with hub 54. The mast sections 51 are in the vertically erected position during transport, but it is also possible to adopt a different configuration.
    A suitable method for assembling a wind turbine 50 built up from the mast sections 51 and rotor blades 55 at sea comprises placing mast sections 51 on the foundation 52 present in the sea with the aid of the first gripping means 2, and then placing them on the mast sections 51 thus placed of a rotor (53, 54) and finally placing rotor blades 55 with the aid of the second gripping means 3.
    More specifically, with reference to Figure 3 and after anchoring the vessel 1 by lowering the anchoring posts 4, a first mast section 51 is engaged by the first gripper 22, preferably in an upper portion of the mast section 51, the first gripper 22 is in a position extended relative to the support structure 21. This position is achieved by extending the support body 23 in the transverse direction 25. The first gripper 22, when engaging a mast section 51, will usually be located in a lower part of the support structure 21. The first gripper 22 is rotated with the gripped mast section 51 about the longitudinal direction axis 24 of the support structure 21 by rotation of the guide 21b, the first gripper 22 optionally extending transversely of the longitudinal direction axis 24 to bring the mast section 51 into alignment with the foundation 52 present at sea. Subsequently, the first gripper 22 with gripped mast section 51 is moved downward along the guide 21b of the support structure 21 until it makes contact with the top side of the foundation 52 and is secured thereon, for example by bolt connections. The first gripper 22 is then rotated back about the shaft 24 to a position in which the first gripper 22 can engage a second mast section 51. This mast section 51 is also preferably engaged in an upper part thereof.
    The first gripper 22 is again rotated with the gripped mast section 51 about the longitudinal direction axis 24 of the support structure 21 by rotation of the guide 21, and then moved upwards along the guide in the direction 24 to a position in which the second mast section 51 is entirely above the already placed first mast section 51. It is noted that it is also possible to first translate the first gripper 22 in the direction 24 and then to rotate it. Both movements can also be performed simultaneously if desired. Subsequently, the first gripper 22 is, if desired, slid transversely of the longitudinal direction axis 24 to align the second mast section 51 with the first mast section 51 already present on the foundation 52. Next, the first gripper 22 with engaged second mast section 51 is moved along the guide 21b of the support structure 21 moved downwards until it makes contact with the upper side of the already placed first mast section 51 and is fixed thereon, for example by bolt connections.
    The operations described above are repeated as many times as mast sections 51 are to be placed. The first gripper 22 is then rotated back about the shaft 24 to a position where the first gripper 22 can engage a gondola 53 with hub 54. To this end, the first gripper 22 is provided, if desired, with means for changing the engagement geometry and adapting it to the geometry of a gondola with hub. In the next step shown in Figure 4, the first gripper 22 with the gripped gondola 53 is rotated about the longitudinal direction axis 24 of the support structure 21 by rotation of the guide 21b, and then moved upwards along the guide in the direction 24 to a position wherein the gondola 53 is entirely above the mast sections 51 already placed. It is noted here that it is also possible here to first translate the first gripper 22 in the direction 24 and then to rotate it, or to perform both movements simultaneously. Subsequently, the first gripper 22 is, if desired, slid transversely of the longitudinal direction axis 24 to bring the gondola 53 into alignment with the mast sections 51 already present on the foundation 52. Next, the first gripper 22 with engaged gondola 53 is moved along the guide 21b of the support structure 21. moved downwards until it makes contact with the top of the already placed upper mast section 51 and secured thereon, for example by bolt connections.
    In the step shown in Fig. 5, with the aid of the articulated robot 3, a rotor blade 55 is brought from the storage rack 6 to the gondola 53 placed on the mast sections 51 and attached thereto in a known manner. Hereby the members 31 and 32 are rotated relative to each other (for example they are mutually coupled by means of a cardan joint) and, if desired, telescopically extended to bring the rotor blade 55 into alignment with the gondola 53 and more particularly with the hub 54.
    This step is then repeated as many times as rotor blades 55 are to be coupled to the hub 54. In the embodiment shown, the total number of rotor blades 3 to be coupled to the hub 54 relates to (see figures 1 and 5) such that a rotor comprises an assembly of a hub 54 and three rotor blades 55.
    The invention is not limited to the embodiments shown in the figures, and many variants thereof are possible within the scope of the appended claims. For example, it is possible to attach one or more rotor blades 55 to the hub 54 (for example in so-called bunny form) wherein the hub 54 is still in raised condition on the support structure 21, in other words is not yet placed on the foundation already on the foundation. 52 mast sections 51, and only then to place the whole on mast sections 51 by vertical translation of the first gripper 22 along the guide 21b.
    权利要求:
    Claims (28)
    [1]
    Device for assembling a structure built up from parts at sea, in particular a wind turbine, which device comprises first and second gripping means placed on the deck of a vessel, the first gripping means being arranged for placing first parts on a foundation present in the sea, and the second gripping means are arranged for placing second parts on the first parts, the first gripping means comprising an erected support structure to which a first gripper for the first parts that can be translated in the longitudinal direction of the support structure is connected, and the second gripping means comprise an articulated gripping arm with a second gripper for the second parts.
    [2]
    Device as claimed in claim 1, characterized in that the first gripper of the first gripping means is rotatable about the longitudinal direction axis of the erected support structure.
    [3]
    Device as claimed in claim 1 or 2, characterized in that the first gripper of the first gripping means is extendable transversely of the longitudinal direction axis of the erected support structure.
    [4]
    4. Device as claimed in any of the claims 1-3, characterized in that the erected support structure comprises a porch with transverse beam which can be translated in the longitudinal direction of the support structure to which the first gripper is attached.
    [5]
    Device as claimed in any of the claims 1-3, characterized in that the erected support structure comprises a monopole which is provided on the outside with a guide for the first gripper.
    [6]
    Device as claimed in claim 5, characterized in that the guide is rotatable about the longitudinal direction axis of the erected support structure.
    [7]
    Device as claimed in claim 5 or 6, characterized in that the first gripper is attached to a support platform which engages on the guide and is translatable along the guide in the longitudinal direction of the support structure. ......
    [8]
    Device as claimed in claim 7, characterized in that the support platform is extendable transversely of the longitudinal direction axis of the erected support structure.
    [9]
    Device as claimed in any of the foregoing claims, characterized in that the height of the support structure is at least 15 meters above the working deck of the vessel.
    [10]
    Device as claimed in any of the foregoing claims, characterized in that the articulated gripping arm with the second gripper comprises a telescopically extendable arm for the second parts.
    [11]
    Device as claimed in any of the foregoing claims, characterized in that the articulated gripping arm is attached to the upper side of the support structure with the second gripper for the second parts.
    [12]
    Device as claimed in any of the foregoing claims, characterized in that the first parts comprise the mast sections of a wind turbine, and the second parts the rotor blades of a wind turbine.
    [13]
    Device according to claim 12, characterized in that the first parts comprise the gondola with a wind turbine hub.
    [14]
    Device as claimed in claim 13, characterized in that the hub is provided with rotor blades.
    [15]
    Method for assembling a structure built up from parts at sea, in particular a wind turbine, which method comprises providing on a vessel a device according to any one of the preceding claims, placing first parts on the vessel by means of the first gripping means a foundation present in the sea by engaging the first gripper and translating the first gripper into the longitudinal direction of the support structure, and placing the second parts on the first parts by engaging the second parts by engaging with the second grab and displacement of the grab arm.
    [16]
    A method according to claim 15, characterized in that the first gripper of the first gripping means with an engaged first part is rotated about the longitudinal axis of the erected support structure to bring the part in alignment with the foundation present in the sea.
    [17]
    17. Method as claimed in claim 15 or 16, characterized in that the first gripper of the first gripping means with an engaged first part is extended transversely to the longitudinal axis of the erected support structure in order to bring the part in alignment with the foundation present in the sea.
    [18]
    A method according to any one of claims 15-17, characterized in that the erected support structure comprises a porch with a transverse beam that can be translated in the longitudinal direction of the support structure to which the first gripper is attached, and that the first gripper with an engaged first component in the longitudinal direction of the support structure is translated.
    [19]
    A method according to any one of claims 15-18, characterized in that the erected support structure comprises a monopile, which is provided on the outside with a guide for the first gripper, and in that the first gripper with an engaged first part in the longitudinal direction of the support structure is translated along the guide.
    [20]
    A method according to claim 19, characterized in that the guide is rotated about the longitudinal direction axis of the erected support structure to bring the part in alignment with the foundation present in the sea.
    [21]
    A method according to claim 19 or 20, characterized in that the first gripper is attached to a support platform that engages the guide and the support platform is translated along the guide in the longitudinal direction of the support structure.
    [22]
    A method according to claim 21, characterized in that the supporting platform is slid away from the longitudinal axis of the erected support structure to bring the part in alignment with the foundation present in the sea.
    [23]
    A method according to any one of claims 15-22, characterized in that the first grab is brought at least 15 meters above the working deck of the vessel.
    [24]
    Method according to one of the cycles 15-23, characterized in that the articulated gripping arm with the second gripper comprises a telescopically extendable arm for the second parts and the second gripper is telescopically extended with an engaged second part to bring this part into alignment with first parts placed on the foundation present in the sea.
    [25]
    25. Method as claimed in any of the claims 15-24, characterized in that the articulated gripping arm with the second gripper for the second parts is attached to the top of the support structure and the second gripper with an engaged second part from the top of the support structure. alignment is brought with the first parts placed on the foundation present in the sea.
    [26]
    A method according to any one of claims 15-25, characterized in that the first parts comprise the mast sections of a wind turbine, and the second parts the rotor blades of a wind turbine.
    [27]
    27. Method according to claim 26, characterized in that the first parts comprise the gondola with a wind turbine hub.
    [28]
    A method according to claim 27, characterized in that the hub is provided with rotor blades.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB2163402A|1984-08-22|1986-02-26|British Aerospace|Open sea transfer of articles|
    FR2849877A1|2003-01-09|2004-07-16|Saipem Sa|Windmill installing process, involves moving windmill with tower until base of tower in axis of pile foundation, integrating base of tower with top of foundation, and deploying tower until its configuration is deployed|
    US20110056168A1|2009-09-10|2011-03-10|National Oilwell Varco, L.P.|Windmill installation system and method for using same|US10737914B2|2012-08-16|2020-08-11|W3G Shipping Ltd.|Offshore crane|
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    申请号 | 申请日 | 专利标题
    BE201100757|2011-12-23|
    BE201100757|2011-12-23|
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