WO2014044252A1 - Floating body with a crane - Google Patents

Description

 Float with a crane

The invention relates to a floating body, in particular ships or platforms, with a crane, which has a reference fixation and an adjustable working location and can be changed in three spatial directions.

Especially when waiting and inspecting wind turbines in the offshore area problems arise because the access from the outside to the wind turbine is limited. Crane systems mounted directly on the wind turbine lead to very high costs, since they must be installed in every wind turbine, but are rarely used.

[03] Sea-side cranes on ships must guarantee working heights of 100m to 150m as these correspond to the hub height of a typical wind turbine. Due to the mechanical coupling of the crane with the ship, the smallest movements of the ship lead to large rashes of the crane at hub height.

[04] Typically, ships and work platforms can be raised above the water level, making the ship stable. By this lifting practically corresponds to the coordinate system of the ship to the coordinate system of the wind turbine. However, this procedure is expensive and time-consuming, since the ship must be lifted before the actual maintenance or repair. [05] In addition, there is a great effort to introduce man and material on the open sea to the wind turbine.

[06] The object of the invention is to improve the state of the art.

The object is achieved by a floating body, in particular ship or platform, with a crane, which has a reference fixation and an adjustable working location and is changeable in three spatial directions, wherein the working location can be decoupled by means of the reference fixation of a floating body movement.

[08] Thus, a system can be provided in which the work location with respect to the wind turbine is fixed, so that maintenance, inspection and cleaning work, for example on the rotor blades can be done from the outside.

[09] In particular, the disadvantages described in coupled systems in which a float movement due to the high heights of the crane leads to a relevant change in location, which makes quasi a wait or a repair to the wind turbine, can be eliminated.

[10] The fact that ship movements do not directly affect the workplace also increases the subjective safety of a person at work.

[11] The following terminology is explained: [12] "Crane" means equipment operated manually or by engines for the vertical and horizontal loading of loads and persons, in particular assembly cranes for the erection of offshore wind turbines and maintenance cranes for the maintenance of offshore wind turbines.

By means of the "reference fixation" in particular the location of the place of work is defined in the fixed reference system of the wind turbine and "fixed". Thus, not a reference system of the float, but the fixed reference system of the wind turbine is relevant. About the reference fix the decoupling of the place of work of movements of the float takes place.

[14] On the one hand, the work location can be positioned by means of coordinate data in relation to the reference fixation. Also a mechanical coupling is possible. In all cases, the work location is kept substantially constant with respect to the wind turbine.

[15] For example, retroreflectors can be attached to the wind energy plant, which are irradiated by means of a laser beam from the place of work or from the crane and whose distance is determined. On the basis of this (local) information, the working location can be oriented in such a way that, although it changes in relation to the ship, it remains constant in relation to the coordinate system of the wind turbine. Constant in this context are understood systems that are capable are, maximum 50 cm, preferably 10 cm, to ensure location change in relation to the wind turbine.

[16] An "adjustable work place" exists when the work site can be maneuvered manually or automatically by means of a control or regulation, in which case the work site is in particular a gondola in which a person can carry out his maintenance work attached to the end of the crane tool are covered by the term work with.

[17] In particular, the control of the work site can superimpose the fixation with respect to the coordinate system of the wind turbine, so that the work is performed in relation to the coordinate system of the wind turbine.

[18] The term "float movement" covers, in particular, all movements of a ship, including forward and reverse, as well as port and starboard changes, as well as rolling and heeling.

[19] As used herein, "decoupling" means that the ship's movement has essentially no impact on the worksite, so that the worksite is stationary with respect to the wind turbine, with movements / vibrations of the work site being 50 cm per second , in particular 10 cm per second or lower values, in the present sense as constant. Thus, by solving the task Schiffsschwimmkörperbewegungen and work are decoupled with respect to their movements. By way of example, it should be noted that a person at work almost looks at the ship merely the movements of the ship, but this does not feel, although there is a mechanical connection with the ship.

In a related embodiment, the working location by means of the reference fixing can be adjusted by means of actuators such that a vertical spacing to a water surface of more than 40 m, in particular more than 60 m or preferably more than 100 m can be realized. Thus, working heights can be provided which make it possible to wait or repair an offshore wind energy plant.

As "actuators" for the crane, both hydraulic actuators, pneumatic actuators and / or electromechanical actuators can be used.

[23] The "water surface" is to be understood as the average averaged values over five minutes, so that in the present case a smooth surface as the reference surface can be assumed.

[24] "Vertical spacing" is the shortest distance between the (smooth) water surface and the working location.

[25] In order to keep constant the positional data related to the reference fixation in relation to the wind turbine hold, the floating body may have a crane control, which is set up such that the working space is spatially fixed in relation to the coordinate system of the wind turbine adjustable. Raumfest in the present sense is given in particular when the place of work is substantially constant.

[26] In the case of "existing crane control", the room-stable working location corresponds to the setpoint value and corresponding deviations from the setpoint as control deviation.These control deviations determine how the actuators are to be controlled, so that the workstation is fixed in relation to the wind energy plant.

In a further embodiment, the floating body has a positioning device, which is designed such that the floating body can be positioned in a stationary manner.

By this fixed positioning, the ship is kept stationary with respect to its location by means of the ship propeller and other control methods. This control takes place in particular by means of satellite-based positioning systems such as Galileo or GPS. Thus, the float movements are substantially reduced to roles and heeling. As a result, the control effort for tracking the workplace (view of the ship) can be reduced.

[29] Stationary in this context is especially cartographic. The float position, described by latitude and longitude, is substantially constant. In order to decouple the ship movements sufficiently stable from the work site, the crane may have a first boom and a second boom, which are independently controllable and / or controllable. [31] Thus, the first boom may have a slow control, in particular based on movement data of the float. For example, position sensors, in particular gyroscope sensors, are evaluated, which detect a change in position of the floating body. [32] In contrast, the control of the second boom can be faster. In particular, this in turn can be done by reference position determination with respect to the coordinate system of the wind turbine.

By these independent regulations, the place of work can be optimized decoupled from ship movements.

[34] The first boom is in particular the boom, which is arranged on the ship side. The second boom is arranged in particular wind energy plant side. [35] Furthermore, the crane may have additional booms with additional separate / independent controls and / or controls.

In order to ensure an operator-optimized result, the first boom may be controlled and / or controlled following a float sequence and the second boom relative to the reference fixture. [37] The "float sequence" may be the movement of the float due to the waves, the wind or other parameters, which are generally very slow so that "slow" control can be used.

[38] Due to the strong fluctuations in the working environment due to the smallest movements of the hull, the control for the second boom is designed "fast", in particular for the purpose of regulating the position of a wind turbine (reference fixation).

In order to decouple the ship movements completely from the work site, the first and the second boom can be connected to each other via a reference fixation.

[40] The "reference fixation" present in this special embodiment is a mechanical fixation which can be connected directly to the wind energy plant or the associated foundation, so it is essential that the coordinate system of the

Wind turbine with the coordinate system of the floating body mechanically coupled, in particular connected, is.

[41] Thus, in particular the first boom with the ship and the wind turbine and the second boom with the wind turbine are connected.

[42] The term "cantilever" is understood to mean, in particular, components projecting beyond the support of a crane for the entire text controlled or regulated guidance, the desired working locations are reached by means of the delivery arms.

[43] In one related embodiment, the work site is coupled and / or attached to the second boom. Thus, the decoupling of the

Float movement from the workplace are particularly well realized. Of course, the coupling or fastening can be done via other booms.

[44] In order to be able to use the crane several times, the reference fixing can have a detachable wind turbine coupling in relevant embodiments. Thus, one offshore wind turbine after another can be maintained and / or repaired with the same crane.

[45] The "wind turbine coupling" is designed so that it forms a releasably fixed connection with the wind turbines or the associated foundations, also known as foundations.

[46] In order not to violate the protective finish of a wind turbine and in particular its tower, the detachable wind turbine coupling may comprise a cushioning element.

Thus, the wind turbine coupling can be configured as an adjustable gripper, on the insides of which additionally inflatable air bags can be arranged, which fill when closing the gripper with air, so that when closed Wind turbine coupling any movements of the wind turbine or the ship can be cushioned.

[48] In order to be able to optimally position the work site via the second boom, the crane may have a separate control and / or separate control for the second boom and correspondingly for the working location, so that the second boom can be changed separately starting from the reference fixing.

[49] In a related embodiment, the separate control or separate control or boom may be operated from the work site by an operator.

[50] This may allow an operator to change his work location while still being decoupled from the hull movement.

[51] In order to achieve the necessary heights for the maintenance of offshore wind turbines, the second boom may be longer than the first boom. Thus, the float can approach very close to the offshore wind turbine and couple the crane at a short distance, for example. At the tower of the wind turbine and control the corresponding working heights of the workplace on the second boom.

[52] In another related embodiment, the crane may be arranged to lock in place Wind turbine coupling the first boom is decoupled from a float movement.

[53] This can be done, in particular, by the fact that the adjusting elements which (indirectly) connect the first boom to the ship in the crane are "free-wheeled." For this purpose, for example, the working medium can be removed from the actuator, so that, for example, a piston is freely movable.

[54] In order to reduce any movements of the floating body, the floating body may in turn have a positioning device, which is designed such that the floating body is positionally positionable.

As already explained (see above), therefore, the float movement can be limited to roles and heeling.

[56] To ensure the greatest possible safety for the operating personnel, the crane can be set up such that, in the event of a malfunction, the second boom moves into a safety position.

[57] A "safety position" is given, in particular, when the work site is removed from the wind turbine, for example, by lowering the second boom or by pivoting the crane. [58] An "accident" is especially given when a sensor and / or an actuator and / or a control and / or control circuit fails or is damaged.

[59] In another embodiment, the work site may include a mounting crane. Thus, tools and materials can be made to work without having to leave the place of work.

[60] The present assembly crane may in turn comprise booms or even comprise only a hoist.

[61] In the following, the invention will be explained in more detail with reference to exemplary embodiments. Show it

Figure la is a highly schematic representation of a

 Ship with a crane and one

Place of work in a first position according to the state of the art,

Figure lb is a highly schematic representation of the

 Ship with the crane of Figure la at a second position (also prior art),

Figure lc is a highly schematic representation of a

 Ship with a crane according to the invention according to a first aspect of the invention in a first position,

Figure ld is a highly schematic representation of the

Ship with crane of Figure lc in a second position, Figure 2 is a schematic representation of a

Ship with crane, which at one

Wind turbine is coupled, according to another inventive aspect.

[62] According to the prior art, a ship 101 with a crane 103 has a working place 102 (see FIGS. 1 a, 1 b).

[63] Due to the mechanical coupling of the work site 102 via the crane 103 with the ship 101, a movement of the ship 101 inevitably leads to a strong change in the work location 102 (see changed work locations 102 of FIGS. 1a and 1b in comparison).

[64] This change in the work locations 102 is the more pronounced, the higher the work place 102 is located with respect to the ship 101. This strong change of location of the work place 102 is prevented according to the invention.

[65] In a first aspect (see FIG. 1c, 1d), this is realized in terms of regulation or control technology. Despite the different ship conditions of ship 101 (see FIGS. 1c and 1d), work location 102 remains unchanged.

[66] This is achieved as follows: Three retroreflectors are arranged at different positions on a wind energy plant. These

Retroreflectors are illuminated from a nacelle 102 by means of a laser, and due to the reflected light, the position of the nacelle 102 in space is determined. [67] If the ship 101 moves below, a small deflection of the nacelle 102 takes place. This change is fed to a regulator, which controls the hydraulic control elements of the crane jib in such a way that the deflection of the work site 102 is compensated. The adjusting elements are arranged on all moving parts. Alternatively, electromechanical actuators are used.

By a control element on the nacelle 102, the gondola can be moved by a controller, wherein further the retroreflectors are acted upon at the wind turbine by the laser beams and the position in space is determined. Thus, the new location information is available, by means of which the controller controls the nacelle 102.

By this regulation of the crane 103 with its arms over the adjusting elements, the nacelle 102 is decoupled from movements of the ship 101.

[70] In a second alternative (see FIG. 2), a ship 101 has a crane 103. The crane 103 in turn has a first boom 105 and a second boom 107. First and second boom 105, 107 are connected to each other via a wind turbine coupling 111. The wind turbine coupling 111 is designed as a clip with inner inflatable air bags.

[71] On the second boom 107 is the gondola 109, in which a maintenance person finds place. Now drives the ship 101 to an offshore wind turbine 121 with a wind turbine tower 127, a

Wind turbine engine house 125 and associated Rotor blades 123, the open bracket 111 is moved around the wind turbine tower 127 via the first boom 105. Once the wind turbine tower 127 is completely enclosed by the clamp 111, the inner air sacks are inflated and the clamp 111 is closed such that the ship 101 is mechanically fixedly coupled to the wind turbine tower.

[72] The actuators are now released on the ship, so that while ship movements can lead to a process of the first boom 105, but the clamp 111 is firmly connected to the wind turbine 121. Now, the second boom 107 can be moved so that a desired working location is achieved by the nacelle 109 due to its separate actuators, which connect the second arm 107 with the bracket 111.

[73] After the maintenance work has been successfully completed, the second boom 107 with the pod 109 returns to its original starting location, the actuators of the ship 101 are operated again while at the same time the clamp 111 is opened.

[74] Subsequently, the entire crane 103 is stored in the ship 101. The ship 101 can now travel via the water 131 to the next offshore wind energy installation 121 and, as shown, again wait or clean the further wind energy installation.

Claims

Protection claims: 1. Floating body, in particular ship (101) or platform, with a crane (103), which has a reference fixation and an adjustable work location (102, 109), which can be changed in three spatial directions, characterized in that the work location is determined by means of the reference fixation can be decoupled from a floating body movement. 2. Floating body according to claim 1, characterized in that the work location can be adjusted by means of the reference fixation using actuators such that a vertical distance from a water surface (131) of more than 40m, in particular of more than 60m or preferably of more than 100m, can be achieved . 3. Floating body according to one of the preceding claims, characterized by a crane control, which is set up in such a way that the work location can be set in a spatially fixed manner. Floating body according to claim 3, characterized by a positioning device which is designed such that the floating body can be positioned in a stationary manner. Floating body according to one of the preceding claims, characterized in that the crane has a first boom (105) and a second boom (107), which can be regulated and/or controlled independently of one another. Floating body according to claim 5, characterized in that the first boom is regulated and/or controlled according to a floating body sequence and the second boom is regulated and/or controlled in relation to the reference fixation. 7. Floating body according to claim 5, characterized in that the first and second booms are connected to one another via the reference fixation. 8. Floating body according to one of claims 5 to 7, characterized in that the work location (109) is coupled or attached to the second boom. 9. Floating body according to one of claims 7 or 8, characterized in that the reference fixation has a reversibly detachable wind turbine coupling (111). 10. Floating body according to claim 9, characterized in that the detachable wind turbine coupling has a cushioning element, so that the wind turbine coupling locked on a wind turbine (121) causes little or no damage to the wind turbine. 11. Floating body according to one of claims 7 to 10, characterized in that the crane has a separate control or separate regulation for the second boom, so that the second boom can be changed separately based on the reference fixation. 12. Floating body according to one of claims 5 to 11, characterized in that the separate control or the separate regulation or the second boom can be operated from the work location by means of an operating device. 13. Floating body according to one of claims 7 to 12, characterized in that the second boom is longer than the first boom. 14. Floating body according to one of claims 5 to 13, characterized in that the crane is set up in such a way that that when the wind turbine coupling is locked, the first boom is decoupled from a floating body movement. 15. Floating body according to one of claims 5 to 12, characterized by the positioning device, which is designed such that the floating body can be positioned in a stationary manner. 16. Floating body according to one of claims 5 to 15, characterized in that the crane is set up in such a way that in the event of an accident, the second boom moves into a safety position. 17. Floating body according to one of the preceding claims, characterized in that the work location has an assembly crane.