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WO2013093614A1 - Dispositif et procédé pour assembler une structure en mer - Google Patents

Dispositif et procédé pour assembler une structure en mer Download PDF

Info

Publication number
WO2013093614A1
WO2013093614A1 PCT/IB2012/002879 IB2012002879W WO2013093614A1 WO 2013093614 A1 WO2013093614 A1 WO 2013093614A1 IB 2012002879 W IB2012002879 W IB 2012002879W WO 2013093614 A1 WO2013093614 A1 WO 2013093614A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot arm
components
sea
support structure
wind turbine
Prior art date
Application number
PCT/IB2012/002879
Other languages
English (en)
Inventor
Johannes Andreas Maria JACOBS
Peter Georges Nelly ROOSE
Original Assignee
High Wind N.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from BE2012/0165A external-priority patent/BE1020451A4/nl
Application filed by High Wind N.V. filed Critical High Wind N.V.
Publication of WO2013093614A1 publication Critical patent/WO2013093614A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B17/02—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor placed by lowering the supporting construction to the bottom, e.g. with subsequent fixing thereto
    • E02B17/021—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor placed by lowering the supporting construction to the bottom, e.g. with subsequent fixing thereto with relative movement between supporting construction and platform
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B75/00—Building or assembling floating offshore structures, e.g. semi-submersible platforms, SPAR platforms or wind turbine platforms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B17/02—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor placed by lowering the supporting construction to the bottom, e.g. with subsequent fixing thereto
    • E02B17/027—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor placed by lowering the supporting construction to the bottom, e.g. with subsequent fixing thereto steel structures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F03D13/22—Foundations specially adapted for wind motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/40—Arrangements or methods specially adapted for transporting wind motor components
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B2017/0039—Methods for placing the offshore structure
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B2017/0039—Methods for placing the offshore structure
    • E02B2017/0043—Placing the offshore structure on a pre-installed foundation structure
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B17/00—Artificial islands mounted on piles or like supports, e.g. platforms on raisable legs or offshore constructions; Construction methods therefor
    • E02B2017/0091—Offshore structures for wind turbines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/95—Mounting on supporting structures or systems offshore
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/727—Offshore wind turbines

Definitions

  • 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 particularly to a device and method for assembling a wind turbine at sea.
  • a typical example is an offshore wind turbine.
  • Such a wind turbine is generally constructed from different mast segments, together forming a mast.
  • the mast which can be over 100 metres high, supports a gondola (also referred to as a nacelle) which forms the housing for the electromechanical equipment, such as a power generator, and which alone can have a weight of more than 350 tons.
  • the gondola is also provided with a hub on which a number of rotor blades are arranged.
  • the rotor blades of such a rotor convert the kinetic energy of the wind into a rotating movement of the shaft of the gondola.
  • the power generator converts the movement of the shaft into electricity and supplies the generated power to the public grid.
  • a wind turbine can further be provided with a transmission or gearbox to adjust the generator rotation speed (50 Hz) to the rotation speed of the rotor.
  • Assembly, maintenance or repair of such large structures at sea requires transport of the structure or of parts thereof by sea to an offshore platform moored in the vicinity of the location where the structure is situated or must be constructed.
  • the mast components and a rotor, or even a whole wind turbine are navigated to the location of construction using a vessel suitable for this purpose.
  • a lifting device for instance a crane, present on the vessel or optionally on an already present (jack-up) platform. The lifting device lifts the supplied components (or in some cases a whole structure) and places them on a foundation for the structure already present in the sea.
  • An object of the present invention is to provide a device with which (components of) large structures, particularly wind turbines, can be assembled and placed at sea in less wind-sensitive manner.
  • a device for assembling at sea a structure constructed from components, particularly a wind turbine which device comprises lifting means such as a crane placed on the deck of a vessel, wherein the lifting means are adapted to place the components on a foundation present in the sea, and wherein the device further comprises a robot arm with a tool for supporting the components, at least during lifting thereof.
  • lifting means such as a crane placed on the deck of a vessel
  • the device further comprises a robot arm with a tool for supporting the components, at least during lifting thereof.
  • the assembly time of a structure at sea can hereby be significantly reduced.
  • the invention therefore likewise relates to a method for assembling a large structure at sea, particularly a wind turbine, making use of the device according to the invention.
  • the method comprises of providing a device according to the invention on a vessel and, using the lifting means, placing the components on a foundation present in the sea, while the robot arm with the tool supports or grips the components, at least during lifting thereof.
  • the vessel can in principle be any vessel with sufficient load-bearing capacity for the device, but is preferably a jack-up offshore platform moored in the vicinity of the location of construction, more particularly in the vicinity of the foundation for the structure present in the sea.
  • the lifting means and robot arm, as well as the components of the structure to be assembled can be placed in simple manner in a transport position in which they can be transported by sea to the assembly location without danger.
  • the vessel or jack-up offshore platform generally comprises a work deck which can bear a substantial load and anchor piles which support the work deck.
  • Each substantially vertically extending anchor pile is movable in this direction from a high position during transport to a low position in the anchored position, in which position the piles support on the seabed.
  • the height position of the work deck relative to the water level can be changed by shifting the work deck relative to the piles by means of (hydraulic) jacks. In the anchored position the work deck can be jacked up to a position above the water level.
  • 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 assembly of wind turbines at sea, wherein the components comprise for instance mast parts and the gondola (or nacelle) with hub of the wind turbine, as well as the rotor blades of the wind turbine.
  • robot arm is understood to mean the arm of any automatically controlled and preferably programmable manipulator or robot with at least three degrees of freedom. Falling within this definition are, among others, the articulated robot arm of an articulated robot, the arms of a cartesian coordinate robot, SCARA robot and the like.
  • the robot arm comprises an articulated robot arm.
  • An articulated robot arm is constructed from different mutually coupled arm members, wherein the coupling allows a rotation.
  • the articulated robot arm is at least quadraxial, and preferably hexaxial. Because the device according to the invention comprises a lifting means which provides the required (considerable) lifting power, the robot arm can take a relatively light form because the robot arm substantially provides for the stability of the lifted components. Because the robot arm can take a relatively light form, the use of a quadraxial or even hexaxial robot arm has been found possible.
  • Another embodiment of the device according to the invention has the feature that the articulated robot arm comprises mutually coupled levers which can be moved relative to each other, and that the levers are driven by hydraulic cylinders incorporated in a hydraulic circuit.
  • a hydraulic cylinder is coupled with a housing thereof to a first lever of the articulated robot arm and with the piston received in the housing to a following second lever of the articulated robot arm, wherein the first and second lever are mutually connected for pivoting around a connecting hinge.
  • a particularly advantageous embodiment of the device according to the invention has the feature that the robot arm is adapted to carry exchangeable tools.
  • the exchangeable tools more preferably comprise a gripper for a mast section, a gripper for a rotor blade or a gripper for a gondola of a wind turbine.
  • the device according to the invention has the advantage in this embodiment that the robot arm can be adapted for the gripping of the relevant component.
  • the gripping of mast parts and placing thereof on the foundation generally requires great force but relatively little freedom of movement.
  • the gripping of rotor blades on the other hand requires relatively little force but a great freedom of movement, wherein it is advantageous to be able to manipulate the blades such that they catch little wind. Selection of the tool subject to the component for gripping makes it possible to choose the most suitable tool.
  • an arm of the robot arm is extendable. This is particularly advantageous because of the usually relatively great distances and heights which the robot arm must be able to span in order to support the components.
  • the device according to the invention comprises control means for at least the robot arm.
  • control means are per se known, such as for instance a PLC system, and are applied in order to control the relative movements of the robot arm members and the tool in accordance with the position of a component which has been lifted or is to be lifted.
  • An embodiment of the device according to the invention has the feature that the device comprises control means for mutually coordinating the movements of the lifting means and the robot arm.
  • the lifting means and/or the robot arm are preferably provided for this purpose with measuring means for determining the position of for instance the lifting eye of the lifting means and/or the position of the tool of the robot arm.
  • the robot arm can be controlled by means of a feedback loop such that it follows the movement of the lifting eye.
  • the angle and position of the component are measured and the movement of the robot arm controlled subject to the angle and position of the component.
  • Yet another option comprises an embodiment in which the device is provided with measuring means for measuring the force in a robot arm member or in a plurality of robot arm members, and the movement of the robot arm is controlled such that the measured force lies between a minimum and a maximum value. It will be apparent that multiple options are available to the skilled person for coordinating the movements of the lifting means and the robot arm, and that the invention is not limited per se to the utilization of a single control means.
  • a device wherein the robot arm is connected to a support structure extending substantially perpendicularly of the plane of the deck.
  • a support structure makes it easier to reach relatively great heights with the tool of the robot arm, wherein relatively great loads can simultaneously be manipulated.
  • Another embodiment of the device according to the invention is characterized in that the robot arm is mounted on the support structure by means of a coupling body translatable in longitudinal direction of the support structure.
  • the coupling body is rotatable about the longitudinal axis of the erected support structure, this further enhancing the range of the robot arm.
  • the robot arm is extendable transversely of the longitudinal axis of the erected support structure. It hereby becomes possible to grip components located at different transverse distances from the support structure.
  • Making the first gripper of the first robot arm rotatable about the longitudinal axis of the erected support structure enables a gripped component to be moved in an operationally reliable manner and substantially unaffected by wind from a storage location on the vessel, particularly the work deck of an offshore platform, to a position above the foundation, wherein a possible transverse distance to the foundation can be spanned by making the robot arm extendable in this direction.
  • the robot arm provides for sufficient stability of the lifted component, while the required lifting power is provided by the lifting means.
  • a space-saving embodiment of the device according to the invention has the feature that the erected support structure comprises a monopile provided on the outer side with a guide for the robot arm.
  • the guide comprises for instance a pair of guide rails which are arranged some radial distance from the monopile and along which the robot arm or the coupling body can slide, for instance in the longitudinal direction of the erected support structure. If desired, the distance to the monopile can be spanned by a framework structure.
  • Weight can be saved by providing an embodiment of the invention wherein the erected support structure comprises a framework structure.
  • Such an embodiment is robust and can readily withstand the often rough conditions on site.
  • the support body is extendable transversely of the longitudinal axis of the erected support structure.
  • the erected support structure will generally protrude a certain distance above the deck of the vessel or the work deck of the platform.
  • the height of the support structure preferably amounts to at least 15 metres above the work deck of the vessel or platform, more preferably at least 20 metres, and most preferably at least 25 metres.
  • the height is however preferably limited to a maximum of 35 metres, whereby the preferred heights lie between 15-35 metres above the work deck of the vessel or platform, more preferably between 20-35 metres, and most preferably between 25-35 metres.
  • a space-saving device is provided by an embodiment in which the vessel comprises a jack-up platform and the support structure is arranged around an anchor pile (also referred to as spud pole) of the platform.
  • an anchor pile also referred to as spud pole
  • a structure constructed from components, particularly a wind turbine can be assembled in efficient manner at sea.
  • a device can be provided for this purpose which comprises at least two robot arms, wherein first components are placed on a foundation present in the sea using the lifting means and with the support of the first robot arm, and second components are placed on the first components using the lifting means and with the support of the second robot arm.
  • the first components comprise the mast parts of a wind turbine mast and the gondola
  • the second components comprise the wind turbine blades.
  • an embodiment of the device which comprises displacing means for displacing the components over the deck of the vessel and into the operating range of the robot arm.
  • displacing means comprise slide tracks or rails arranged on the deck.
  • An embodiment of the invention provides a method wherein the articulated robot arm comprises mutually coupled levers which can be moved relative to each other by the action of hydraulic cylinders incorporated in a hydraulic circuit, and wherein the robot arm is manipulated, at least during lifting with the lifting gear and with a gripped component, in order to bring this component into alignment with a foundation present in the sea and components possibly already placed thereon.
  • An embodiment of the method has further advantages wherein the robot arm is adapted to carry exchangeable tools, and the tool is exchanged for a tool suitable for supporting a component.
  • Yet another embodiment of the invention comprises a method in which the robot arm with tool is connected to the support structure by means of a coupling body and the tool with a gripped component is translated along the support structure into a position from which the component is brought into alignment with a foundation present in the sea and components possibly already placed thereon.
  • the method according to the invention is particularly suitable for assembling a wind turbine at sea, in which embodiment the components to be lifted by means of the lifting means and to be supported by means of the at least one robot arm comprise the mast sections or the gondola with hub of a wind turbine, as well as the rotor blades of a wind turbine. If desired, the hub is provided during lifting with one or more rotor blades.
  • Fig. 1 is a schematic side view of an embodiment of the device according to the invention.
  • Fig. 2 is a schematic side view of the device shown in figure 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 figure 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 figure 1 in a further step of an embodiment of the method according to the invention.
  • an embodiment of the device is shown which is specifically intended for assembly of a wind turbine 50 at sea.
  • the shown device comprises lifting means, placed on deck 10 of a vessel 1 and taking the form of a crane 100 with hoisting cable 101 and hoisting loop 102, with which components (51, 53, 54, 55) of the wind turbine 50 to be constructed can be lifted and placed on a foundation 52 present in the sea.
  • the device is further provided with a first robot arm 2 adapted during lifting to support mast sections 51 and a gondola 53 with hub 54 on the foundation 52 present in the sea, and a second robot arm 3 adapted during lifting to support and place on mast sections 51 second components which, in the present embodiment, in any case comprise rotor blades 55 of wind turbine 50.
  • the first and second robot arms (2, 3) are both connected to an erected support structure in the form of a framework structure 21 provided on the outer side with a guide (not shown) for the first and second robot arms (2, 3).
  • the guide comprises side ribs which run in longitudinal direction 24 of framework structure 21 (which corresponds to the vertical direction) and along which a coupling body 20 for the coupling between framework structure 21 and first robot arm 2 and a coupling body 30 for the coupling between framework structure 21 and second robot arm 3 can translate in the
  • the height of support structure 21 is preferably at least 20 metres above work deck 10 of vessel 1 , more preferably at least 30 metres, and most preferably at least 35 metres above work deck 10 of vessel 1.
  • the first robot arm 2 is provided with an optionally exchangeable gripper 22 and is embodied such that it is able to clamp round and support mast sections 51 and, optionally after exchanging the gripper, gondola 53 with hub 54, wherein crane 100 substantially provides the required lifting power.
  • Gripper 22 is mounted via a robot arm member 23 on coupling body 20, which engages on the guide of framework structure 21 and is translatable in the longitudinal direction 24 of framework structure 21.
  • the first robot arm 2 is moved along framework structure 21 by means of drive means such as a motor (not shown).
  • both coupling bodies (20, 30) are mounted for rotation about the longitudinal axis 24 of framework structure 21 and can be rotated therearound by means of per se known drive means.
  • the robot arm member 23 in the form of a framework structure is extendable in the direction 25 transversely of the longitudinal axis 24 of support structure 21.
  • a mast section 51 supported by first robot arm 2 can hereby be carried for instance from a position in the vicinity of framework structure 21 to a position located further away from framework structure 21, wherein crane 100 provides the required lifting force.
  • An accurate alignment with foundation 52 can hereby be obtained.
  • Second robot arm 3 comprises an articulated robot arm constructed from two members in the form of mutually coupled levers (31, 32), at least one of which is telescopically extendable if desired.
  • the levers (31, 32) can move relative to each other, wherein a hexaxial articulated robot is possible.
  • a triaxial, quadraxial or pentaxial robot can also be applied in many cases.
  • a preferred embodiment comprises mutually coupled levers (31 , 32), a main lever 31 of which is connected at one outer end for pivoting around a horizontal axis to a coupling body 30, and is likewise connected at the other outer end for pivoting around a horizontal axis to a stick or lever 32.
  • stick 32 is connected at the other outer end for pivoting around a horizontal axis to a second gripper 33 with which a component can be picked up.
  • the levers (31 , 32) and second gripper 33 are driven by hydraulic cylinders (not shown) forming part of a hydraulic circuit.
  • the hydraulic cylinders are coupled with a housing thereof to main lever 31 and with a piston received in the housing to stick 32.
  • At least one second piston is coupled with a housing thereof to stick 32 and with a piston received in the housing to second gripper 33.
  • the gripping arm is connected to support structure 21 by means of a coupling body 30 rotatable around a longitudinal axis 24.
  • Drive means such as a motor (not shown) are present to perform the rotation.
  • the free member or stick 32 comprises on the free outer end thereof the second gripper 33 which is adapted to clamp around and support rotor blades 55 during lifting with crane 100.
  • Second gripper 33 preferably has for this purpose a clamping geometry substantially corresponding to the geometry of a cross- section of rotor blades 55. As known, such a cross-section generally has the geometry of a wing profile aimed at catching as much wind as possible. If desired, gripper 33 can also exchanged for another type of gripper, for instance for a mast part 51.
  • vessel 1 which in the shown embodiment comprises an offshore jack-up platform, is also provided with anchor piles 4 which support work deck 10.
  • Each anchor pile 4 extends substantially vertically and is movable in vertical direction from a high position during transport (not shown) to a low position in the anchored position, in which position piles 4 support on the seabed.
  • the height position of work deck 10 relative to the water level can be changed by shifting work deck 10 relative to piles 4 by means of (hydraulic) jacks 5.
  • 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.
  • Foundation 52 can comprise any type of foundation here, such as for instance a jacket, a monopile or a so-called gravity-based foundation (GBF).
  • GBF gravity-based foundation
  • the anchor piles 4 are in raised position.
  • Further provided on deck 10 of the vessel are storage locations for the components in the form of a rack 6 for rotor blades 55 and a station for mast sections 51 and gondolas 53 with hub 54, the station being accessible to crane 100 and particularly to the first robot arm 2 with gripper 22.
  • mast sections 51 are situated in vertically erect position, although it is also possible to apply a different configuration.
  • a suitable method for assembly at sea of a wind turbine 50 constructed from mast sections 51 and rotor blades 55 comprises of lifting and placing mast sections 51 on the foundation 52 present in the sea using crane 100 and with the support of first robot arm 2, subsequently lifting and placing a rotor (53, 54) on the thus placed mast sections 51, and finally lifting and placing rotor blades 55 using crane 100, wherein the second robot arm 3 supports the rotor blades.
  • a first mast section 51 is more particularly gripped by crane 100 using hoisting loop 102, preferably in an upper part of mast section 51. Said mast section 51 is then gripped with gripper 22 of first robot arm 2, wherein first gripper 22 will generally be located in a lower part of support structure 21 when gripping a first mast section 51. If desired, the robot arm member 23 of first robot arm 2 can be extended in a transverse direction 25 in order to obtain a correct alignment with foundation 52.
  • first robot arm can here also be rotated with the gripped mast section 51 about the longitudinal axis 24 of support structure 21 in order to bring mast section 51 into alignment with the foundation 52 present in the sea, wherein crane 100 produces the required lifting force.
  • first gripper 22 can likewise be moved downward along support structure 21 with a gripped mast section 51 until this latter makes contact with the upper side of foundation 52 and is fixed thereto, for instance with bolt connections. First gripper 22 is then rotated back around axis 24 and moved upward into a position in which first gripper 22 can grip a second mast section 51.
  • This mast section 51 is then also gripped and lifted by crane 100, wherein engagement by first robot arm 2 ensures that said mast part 51 is not overly impeded by uncontrolled movements induced for instance by wind force.
  • the above described operations are repeated as often as mast sections 51 have to be placed.
  • a gondola 53 with hub 54 disposed on deck 10 is then gripped and lifted with the crane to a position above deck 10 and into the operating range of robot arm 2 (or robot arm 3).
  • First gripper 22 is subsequently placed in a position in which first gripper 22 can grip gondola 53 with hub 54 for the purpose of supporting and guiding thereof during lifting with crane 100. If desired, first gripper 22 is provided for this purpose with means for changing and adapting the gripping geometry to the geometry of a gondola with hub.
  • the gondola 53 with hub 54 is carried by crane 100 to a position above the already placed mast parts 51 , wherein first gripper 22 with the gripped gondola 53 is moved upward along support structure 21 in the direction 24 to a position in which gondola 53 is located wholly above the already placed mast sections 51.
  • robot arm member 23 can be extended transversely of longitudinal axis 24 in order to bring gondola 53 into alignment with the mast sections 51 already present on foundation 52.
  • the first gripper 22 with gripped gondola 53 is then moved downward along support structure 21, wherein lifting cable 101 is payed out slightly until gondola 53 makes contact with the upper side of the already placed upper mast section 51 and fixed thereto, for instance by means of bolt connections.
  • a rotor blade 55 is subsequently moved from storage rack 6 to the gondola 53 placed on mast sections 51 , and mounted thereon in known manner using crane 100 and with the support of articulated robot arm 3.
  • Members 31 and 32 are rotated here relative to each other (they are for instance mutually coupled by means of a cardan joint) and, if desired, extended telescopically in order to bring rotor blade 55 into alignment with gondola 53, and more specifically with hub 54.
  • This step is then repeated as many times as rotor blades 55 have to be coupled to hub 54.
  • the total number of rotor blades to be coupled to hub 54 is three, so that a rotor comprises an assembly of a hub 54 and three rotor blades 55.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Architecture (AREA)
  • Ocean & Marine Engineering (AREA)
  • Wind Motors (AREA)

Abstract

L'invention porte sur un dispositif pour assembler en mer une structure construite à partir de composants, en particulier une turbine éolienne (50). Le dispositif comprend des moyens de levage (100) qui sont placés sur le pont d'un navire (1) et sont aptes à placer les composants sur une fondation (52) présente en mer, le dispositif comprenant en outre un bras robotique (2) équipé d'un outil servant à maintenir les composants, au moins pendant leur mise en place. L'invention porte également sur un procédé pour assembler en mer une structure construite à partir de composants, en particulier une turbine éolienne, à l'aide du dispositif selon l'invention.
PCT/IB2012/002879 2011-12-23 2012-12-24 Dispositif et procédé pour assembler une structure en mer WO2013093614A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
BE2011/0757 2011-12-23
BE201100757 2011-12-23
BE2012/0165 2012-03-13
BE2012/0165A BE1020451A4 (nl) 2011-12-23 2012-03-13 Inrichting en werkwijze voor het assembleren van een bouwwerk op zee.

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US20150158704A1 (en) * 2012-08-16 2015-06-11 W3G Shipping Ltd. Offshore crane
CN107572426A (zh) * 2017-09-26 2018-01-12 中海油能源发展股份有限公司 一种便携式海上平台起重机桁架式吊臂更换装置
WO2019245366A1 (fr) * 2018-06-19 2019-12-26 Heerema Marine Contractors Nederland Se Procédé d'installation d'éolienne
NL2021157B1 (en) * 2018-06-20 2020-01-06 Heerema Marine Contractors Nl Wind turbine installation method
WO2021104677A1 (fr) 2019-11-26 2021-06-03 Heerema Marine Contractors Nederland Se Procédé et dispositif permettant de relier une pale d'une éolienne à un moyeu
US20210215139A1 (en) * 2018-06-01 2021-07-15 Itrec B.V. Offshore vessel, preferably an offshore wind turbine installation vessel, a crane for providing such a vessel, and a method for using such a crane, preferably for upending a monopile
NL2025208B1 (en) 2019-11-26 2021-08-30 Heerema Marine Contractors Nl Method and device for connecting a blade of a wind turbine to a hub
WO2022175315A1 (fr) * 2021-02-18 2022-08-25 Itrec B.V. Procédé et dispositif d'installation de pale servant à l'installation d'une pale d'une éolienne en mer
WO2023001601A1 (fr) * 2021-07-22 2023-01-26 Dolfines Procédés pour manipuler une charge, notamment pour le montage ou le demontage d'une pale sur une éolienne en mer et dispositifs pour la mise en œuvre de tels procédés
FR3129654A1 (fr) * 2021-11-26 2023-06-02 Dolfines Outil pour le montage d’une pale sur une éolienne en mer.
WO2024008663A1 (fr) * 2022-07-04 2024-01-11 Dolfines Procede et systeme pour le montage d'une pale sur une eolienne en mer

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GB2163402A (en) * 1984-08-22 1986-02-26 British Aerospace Open sea transfer of articles
FR2849877A1 (fr) * 2003-01-09 2004-07-16 Saipem Sa Procede d'installation en mer d'une eolienne
US20110056168A1 (en) * 2009-09-10 2011-03-10 National Oilwell Varco, L.P. Windmill installation system and method for using same

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10737914B2 (en) 2012-08-16 2020-08-11 W3G Shipping Ltd. Offshore crane
US20150158704A1 (en) * 2012-08-16 2015-06-11 W3G Shipping Ltd. Offshore crane
CN107572426A (zh) * 2017-09-26 2018-01-12 中海油能源发展股份有限公司 一种便携式海上平台起重机桁架式吊臂更换装置
US11885298B2 (en) * 2018-06-01 2024-01-30 Itrec B.V. Offshore vessel, preferably an offshore wind turbine installation vessel, a crane for providing such a vessel, and a method for using such a crane, preferably for upending a monopile
US20210215139A1 (en) * 2018-06-01 2021-07-15 Itrec B.V. Offshore vessel, preferably an offshore wind turbine installation vessel, a crane for providing such a vessel, and a method for using such a crane, preferably for upending a monopile
WO2019245366A1 (fr) * 2018-06-19 2019-12-26 Heerema Marine Contractors Nederland Se Procédé d'installation d'éolienne
US12018644B2 (en) 2018-06-19 2024-06-25 Heerema Marine Contractors Nederland Se Wind turbine installation method
NL2021157B1 (en) * 2018-06-20 2020-01-06 Heerema Marine Contractors Nl Wind turbine installation method
WO2021104677A1 (fr) 2019-11-26 2021-06-03 Heerema Marine Contractors Nederland Se Procédé et dispositif permettant de relier une pale d'une éolienne à un moyeu
NL2025208B1 (en) 2019-11-26 2021-08-30 Heerema Marine Contractors Nl Method and device for connecting a blade of a wind turbine to a hub
WO2022175315A1 (fr) * 2021-02-18 2022-08-25 Itrec B.V. Procédé et dispositif d'installation de pale servant à l'installation d'une pale d'une éolienne en mer
NL2027591B1 (en) * 2021-02-18 2022-09-14 Itrec Bv Blade installation device and method for installing, de-installation or maintenance of a blade of an offshore wind structure
NL2027591A (en) * 2021-02-18 2022-09-14 Itrec Bv Blade installation device and method for installing, de-installation or maintenance of a blade of an offshore wind structure
WO2023001601A1 (fr) * 2021-07-22 2023-01-26 Dolfines Procédés pour manipuler une charge, notamment pour le montage ou le demontage d'une pale sur une éolienne en mer et dispositifs pour la mise en œuvre de tels procédés
FR3129654A1 (fr) * 2021-11-26 2023-06-02 Dolfines Outil pour le montage d’une pale sur une éolienne en mer.
WO2024008663A1 (fr) * 2022-07-04 2024-01-11 Dolfines Procede et systeme pour le montage d'une pale sur une eolienne en mer

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