阅读说明：本技术 一种起吊运输方法、运输船以及起吊运输设备 (Hoisting transportation method, transport ship and hoisting transportation equipment ) 是由 严辉煌 张美满 李卓 于 2021-09-27 设计创作，主要内容包括：本发明提供一种起吊运输方法、运输船以及起吊运输设备,将待吊装部件置于运输船的补偿平台,补偿平台通过补偿连接件连接于运输船的船体,控制补偿连接件动作进行调平,以补偿横摇、纵摇和升沉运动,安装船的起吊装置待所述补偿平台调平后对所述待吊装部件进行起吊,且在起吊过程中,继续控制补偿平台的调平。运输船设置补偿平台,承载于补偿平台上的待吊装部件可以不受风浪的影响,处于相对稳定的位置状态。此时,安装船的起吊装置可以直接将补偿平台上的待吊装部件起吊进行安装,无需先起吊转运到安装船的船体后再进行起吊安装,从而节省起吊环节,提高起吊安装的效率,同时,由于安装船无需转运待吊装部件,对安装船本身的要求也会降低。(The invention provides a hoisting and transporting method, a transport ship and hoisting and transporting equipment, wherein a part to be hoisted is arranged on a compensation platform of the transport ship, the compensation platform is connected to a ship body of the transport ship through a compensation connecting piece, the compensation connecting piece is controlled to act to carry out leveling so as to compensate rolling, pitching and heaving motions, a hoisting device of an installation ship hoists the part to be hoisted after the compensation platform is leveled, and the leveling of the compensation platform is continuously controlled in the hoisting process. The transport ship is provided with a compensation platform, and the part to be hoisted borne on the compensation platform can not be influenced by wind and waves and is in a relatively stable position state. At the moment, the hoisting device of the installation vessel can directly hoist the part to be hoisted on the compensation platform for installation, and the part to be hoisted is not required to be hoisted and transported to the hull of the installation vessel before hoisting and installation, so that the hoisting link is saved, the hoisting and installation efficiency is improved, and meanwhile, the requirement on the installation vessel is reduced because the installation vessel is not required to transport the part to be hoisted.)

1. The hoisting and transporting method is characterized in that a part to be hoisted is placed on a compensation platform (22) of a transport ship (2), the compensation platform (22) is connected to a ship body (21) of the transport ship (2) through a compensation connecting piece, the compensation connecting piece is controlled to act to carry out leveling so as to compensate rolling, pitching and heaving motions, a hoisting device of an installation ship (1) hoists the part to be hoisted after the compensation platform (22) is leveled, and in the hoisting process, the leveling of the compensation platform (22) is continuously controlled.

2. The hoisting transportation method according to claim 1, wherein after the hoisting of the hoisting device is started, the compensating connecting piece is controlled to act to lift the supporting and compensating platform (22), the supporting force is gradually reduced during the lifting process, the hoisting force of the hoisting device is gradually increased until the supporting force is reduced to zero, and the hoisting force is increased to be equal to the gravity of the part to be hoisted.

3. The hoisting transportation method according to claim 2, characterized in that the part to be hoisted is kept lifted at a constant speed during the lifting process.

4. A method as claimed in claim 3, wherein the compensating connector comprises a plurality of compensating cylinders, and the supporting force of the compensating platform (22) to the part to be hoisted is gradually reduced by reducing the output power of the compensating cylinders.

5. A method of suspended transportation according to any one of claims 2-4, wherein the compensating platform (22) is raised no more than a predetermined distance from the initial height.

6. A transport ship is used for being matched with an installation ship (1) provided with a hoisting device, and is characterized in that the transport ship (2) comprises a ship body (21), a compensation platform (22) arranged on the ship body (21), and a compensation control system; the compensating platform (22) is connected to the hull by compensating links, the compensating control system controlling the compensating links to act to compensate for roll, pitch and heave motions.

7. A carrier vessel according to claim 6, characterised in that the hull (21) is provided with a sink (211) with an upwardly facing opening, the compensating platform (22) being mounted in the sink (211).

8. A carrier vessel according to claim 6, in which the compensating link comprises a plurality of compensating cylinders, some of which are arranged inclined to the vertical to compensate for roll or pitch by telescoping.

9. A carrier vessel according to claim 6, characterised in that the carrier vessel (2) further comprises a mobile platform (23) movable along the deck of the hull (21), the mobile platform (23) being used for transporting components to be hoisted to the compensation platform (22).

10. A carrier vessel according to claim 9, characterized in that the deck of the hull (21) is provided with guide rails (251) and drive cylinders (252), which drive cylinders (252) drive the moving platform (23) along the guide rails (251); the guide rail (251) is further provided with a plurality of first pin holes (251a) which are arranged along the length direction, a telescopic end (2521) of the driving oil cylinder (252) is provided with a second pin hole (2521a), and the driving oil cylinder (252) can be positioned by a bolt (253) inserted into one first pin hole (251a) and one second pin hole (2521 a); or the mobile platform (23) moves along the ship body through a gear rack mechanism.

11. A carrier vessel as claimed in claim 10, further comprising a traction winch driving the mobile platform (23) along the guide (251).

12. A hoisting transportation arrangement, characterized by comprising an installation vessel (1) and a transport vessel (2) according to any of claims 6-11, said installation vessel (1) being provided with hoisting means capable of directly hoisting a component to be hoisted transported by said transport vessel (2) for installation.

13. A lifting transport apparatus according to claim 12, further comprising an alongside vessel (3), said alongside vessel (3) being positioned by a plurality of vessel anchors; the transport vessel (2) can be located between one side of the alongside vessel (3) and one side of the installation vessel (1).

Technical Field

The invention relates to the technical field of hoisting, in particular to a hoisting and transporting method, a transport ship and a hoisting and transporting device.

Background

With the arrival of the average era of the wind power industry, offshore units of wind turbine manufacturers tend to be large-sized and overseas.

At present, when a fan is installed, the fan is split, namely a tower barrel, a cabin, a hub, blades and the like of the fan are prepared, then the fan is transported to a fan installation ship fixed in the sea area by a transport ship, the transported fan components are hoisted and installed by hoisting equipment of the installation ship, and in order to install each heavy component of the fan to a preset position, the hoisting height of the hoisting equipment is as high as hundreds of meters. Due to the fact that sea stormy waves are large, particularly under the condition of high surge, the transport ship is in an unstable state, and the lifting equipment of the installation ship cannot directly lift heavy components of the fan in the unstable state on the transport ship to the position of hundreds of meters for installation.

According to the existing scheme, all heavy parts of a fan on a transport ship are hoisted to an installation ship through hoisting equipment, the hoisting height is several meters to dozens of meters, and the hoisting safety can be guaranteed. After the heavy components of the fan are hoisted to the installation ship fixed in the sea area, the hoisting equipment is used for hoisting and installing the heavy components of the fan which is stably positioned on the installation ship, so that the hoisting and installation safety is ensured.

However, in the method, the installation vessel needs to be lifted first and then lifted, so that the number of links is large, the installation efficiency is affected, the installation vessel needs to provide an area for bearing the part to be lifted, the design requirement on the installation vessel is large, many existing installation vessels do not meet the requirement, new vessels need to be manufactured or old vessels need to be modified, and the cost is high.

Disclosure of Invention

The invention provides a hoisting transportation method, which is characterized in that a part to be hoisted is arranged on a compensation platform of a transport ship, the compensation platform is connected to the hull of the transport ship through a compensation connecting piece, the compensation connecting piece is controlled to act to carry out leveling so as to compensate rolling, pitching and heaving motions, a hoisting device of an installation ship hoists the part to be hoisted after the compensation platform is leveled, and the leveling of the compensation platform is continuously controlled in the hoisting process.

In a specific mode, after the lifting device starts lifting, the compensating connecting piece is controlled to act so as to lift and support the compensating platform, the supporting force is gradually reduced in the lifting process, the lifting force of the lifting device is gradually increased until the supporting force is reduced to zero, and the lifting force is increased to be equal to the gravity of the part to be lifted.

In a specific mode, the part to be hoisted is kept to be lifted at a constant speed in the lifting process.

In a specific mode, the compensating connecting piece comprises a plurality of compensating oil cylinders, and the supporting force of the compensating platform on the part to be hoisted is gradually reduced by reducing the output power of the compensating oil cylinders.

In one embodiment, the compensation platform is raised by a distance not exceeding a predetermined distance relative to the initial height.

The invention also provides a transport ship which is used for being matched with the installation ship provided with the hoisting device, and comprises a ship body, a compensation platform arranged on the ship body and a compensation control system; the compensation platform is connected to the ship body through a compensation connecting piece, and the compensation control system controls the compensation connecting piece to act so as to compensate rolling, pitching and heaving motions.

In one embodiment, the hull is provided with a sink tank with an upward opening, and the compensation platform is mounted in the sink tank.

In one specific mode, the compensation connecting piece comprises a plurality of compensation oil cylinders, and part of the compensation oil cylinders are obliquely arranged relative to the vertical direction so as to compensate rolling or pitching through stretching and contracting.

In a particular form, the carrier further comprises a mobile platform movable along the deck of the hull for transporting the component to be hoisted to the compensation platform.

In a specific mode, a deck of the ship body is provided with a guide rail and a driving oil cylinder, and the driving oil cylinder drives the mobile platform to move along the guide rail; the guide rail is also provided with a plurality of first pin holes distributed along the length direction, the telescopic end of the driving oil cylinder is provided with a second pin hole, and the driving oil cylinder can be positioned by inserting a bolt into one of the first pin holes and the second pin hole; or the mobile platform moves along the ship body through a gear rack mechanism.

In a specific mode, the device further comprises a traction winch, and the traction winch drives the moving platform to move along the guide rail.

The invention also provides hoisting and transporting equipment which comprises an installation ship and the transport ship, wherein the installation ship is provided with the hoisting device, and the hoisting device can directly hoist the part to be hoisted and transported by the transport ship for installation.

In a specific mode, the ship with the side wall is further provided, and the side wall ship is positioned through a plurality of ship anchors; the carrier vessel can be located between a side of the slope ship and a side of the installation vessel.

In this scheme, the transport ship includes compensation platform and compensation control system, and compensation platform passes through the compensation connecting piece and connects in the hull, and compensation control system control compensation connecting piece action to the compensation hull is because the motion of rolling, pitching and heaving that stormy waves leads to, treats that the hoist and mount part bears in compensation platform. That is to say, due to the arrangement of the compensation platform, the part to be hoisted, which is borne on the compensation platform, can be in a relatively stable position state, i.e. maintained at a certain height and maintained horizontal, without being affected by wind and waves. At the moment, the hoisting device of the installation vessel can directly hoist the part to be hoisted on the compensation platform for installation, and the part to be hoisted is not required to be hoisted and transported to the hull of the installation vessel before hoisting and installation, so that the hoisting link is greatly saved, the hoisting and installation efficiency is improved, and meanwhile, the requirement on the installation vessel is reduced because the installation vessel is not required to transport the part to be hoisted, and the design is simpler. To the problem that the performance of the existing installation ship in the market is not enough, the transportation can not be completed, and then the lifting installation is carried out, the transportation ship can meet the operation conditions, and therefore the high cost of a new ship or the reconstruction cost of an old ship can be saved.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a lifting and transporting apparatus according to the present invention;

FIG. 2 is a schematic view of the installation vessel of FIG. 1;

FIG. 3 is a schematic view of the structure of a transport vessel;

FIG. 4 is a schematic view of a transport vessel transporting a part to be hoisted;

FIG. 5 is a schematic structural diagram of the compensation platform of FIG. 3;

FIG. 6 is a front view of FIG. 5;

FIG. 7 is a left side view of FIG. 6;

FIG. 8 is a top view of FIG. 5;

FIG. 9 is a schematic view of motion compensation for roll;

FIG. 10 is a comparative illustration of the compensation platform at an initial elevation and the hull being lowered for heave compensation;

FIG. 11 is a comparative illustration of the compensation platform at an initial elevation and the hull being compensated for descent after it has risen;

FIG. 12 is a schematic illustration of the active lift of the compensation platform;

FIG. 13 is a schematic view of the transport vessel of FIG. 1;

FIG. 14 is a schematic view of a hydraulic latch style guide rail;

FIG. 15 is a top view of FIG. 14;

fig. 16 is a schematic view of the process of hoisting the hoisting transportation equipment in the embodiment of the invention.

The reference numerals in fig. 1-16 are illustrated as follows:

1, installing a ship; 11-a boom; 12-a pile leg; 13-a hook;

2-a transport ship; 21-a hull; 211-sink tank; 22-a compensation platform; 23-a mobile platform; 241-a heave compensation cylinder; 242-roll compensation cylinder; 243-pitching compensation oil cylinder; 251-a guide rail; 251 a-first pin hole; 252-a drive cylinder; 2521-a telescopic end; 2521 a-a second pin aperture;

3-a side wall ship;

100-hub.

Detailed Description

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram of an embodiment of a hoisting and transporting apparatus according to the present invention; fig. 2 is a schematic view of the installation vessel 1 in fig. 1.

The hoisting and transporting equipment in the embodiment comprises an installation vessel 1 and a transport vessel 2, wherein the installation vessel 1 is generally located at a fixed machine position, the installation vessel 1 is provided with a hoisting device, the hoisting device comprises a suspension arm 11 and a lifting hook 13 installed on the suspension arm 11, the hoisting device can hoist heavy parts, such as a fan, a tower barrel, a cabin, a hub and the like of the fan are all heavy parts, when the fan is installed on the installation vessel 1, the tower barrel, the cabin, the hub, blades and the like can be hoisted and installed at a preset position on the sea, and the installation vessel 1 can also be used for hoisting other heavy parts to install at a preset position on the sea. The installation vessel 1 may be a self-elevating installation vessel 1, i.e. the hull of the installation vessel 1 can be elevated up and down along the spud legs 12 by means of elevating means, the hull is shown in fig. 1 and 2 as being specifically mounted on four spud legs 12, the number of spud legs 12 being designed according to the self-elevating type and the actual requirements.

Because the installation vessel 1 is fixed at a certain position, the part to be hoisted needs to be transported to the position of the installation vessel 1 by the transport vessel 2, and then the installation vessel 1 hoists the part to be hoisted by the hoisting device. It should be noted that, in this embodiment, the carrier 2 includes a hull 21, a compensation platform 22 disposed on the hull 21, and a compensation control system, where the compensation platform 22 is connected to the hull 21 through a compensation connector, the compensation control system controls the compensation connector to move so as to compensate for rolling, pitching, and heaving motions of the hull 21 caused by wind and waves, and the component to be hoisted is borne on the compensation platform 22. That is to say, due to the arrangement of the compensation platform 22, the component to be hoisted, which is borne on the compensation platform 22, can be free from the influence of wind and wave, and is in a relatively stable position state, i.e., kept at a certain height and kept horizontal, and is suitable for hoisting heavy components under severe sea conditions.

At this moment, the hoisting device of the installation vessel 1 can directly hoist the part to be hoisted on the compensation platform 22 for installation, and the part to be hoisted does not need to be hoisted and installed after being hoisted to the hull of the installation vessel 1, so that the hoisting link is greatly saved, the hoisting and installation efficiency is improved, and meanwhile, the requirement on the installation vessel 1 is reduced and the design is simpler as the installation vessel 1 does not need to transport the part to be hoisted. To the problem that the performance of the existing installation ship in the market is not enough, the transportation can not be completed, and then the lifting installation is carried out, the transportation ship can meet the operation conditions, and therefore the high cost of a new ship or the reconstruction cost of an old ship can be saved.

As shown in fig. 1, the hoisting transportation equipment in this embodiment may further include an upper ship 3, the upper ship 3 is positioned by a plurality of ship anchors, and has a better positioning characteristic, the transport ship 2 may be transported between one side of the upper ship 3 and one side of the installation ship 1, at this time, the upper ship 3 and the installation ship 1 actually lift the transport ship 2 by a certain limiting effect, so as to further ensure the stability of the position of the transport ship 2, and facilitate the installation ship 1 to directly lift the component to be lifted on the transport ship 2.

As to the manner of compensating the compensating platform 22 of the transport vessel 2, it can be understood with further reference to fig. 3-8, fig. 3 being a schematic structural view of the transport vessel 2; fig. 4 is a schematic view of the transport vessel 2 transporting a part to be hoisted, which is illustrated as a heavy part 200; FIG. 5 is a schematic structural diagram of the compensation platform 22 of FIG. 3; FIG. 6 is a front view of FIG. 5; FIG. 7 is a left side view of FIG. 6; fig. 8 is a top view of fig. 5.

In this embodiment, the carrier vessel 2 includes a hull 21, the hull 21 is provided with a sink 211 having an upward opening, as shown in fig. 3, a deck of the hull 21 is recessed to form the sink 211, and the compensating platform 22 is installed in the sink 211. The compensation platform 22 is arranged in the sinking groove 211, which is equivalent to the ship body 21 being separately arranged, so as to perform dynamic leveling, and the sinking groove 211 provides an installation space for the compensation connecting piece, so that the height of the compensation platform 22 can be reduced, and the stability of the ship body 21 in the compensation leveling process can be improved. It will be appreciated that the compensating platform 22 need not be located in the sink basin 211 but may be located above the deck, but it will be appreciated that the lower height of the compensating platform 22 facilitates the transportation of the components to be hoisted to the compensating platform 22 in addition to the stability advantage of the lower level of the sink basin 211.

In the embodiment, the compensating link includes a plurality of compensating cylinders, and a part of the compensating cylinders are arranged obliquely with respect to the vertical direction, the obliquely arranged compensating cylinders are defined as roll or pitch compensating cylinders 243, the vertically arranged compensating cylinders are defined as heave compensating cylinders 241, as can be seen from fig. 5 to 8, the compensating platform 22 is arranged in a square shape, the vertically extending heave compensating cylinders 241 are arranged at four corners of the compensating platform, one obliquely arranged roll compensating cylinder 242 is arranged on each of a pair of opposite sides of the compensating platform 22, and one obliquely arranged pitch compensating cylinder 243 is arranged on each of the other pair of opposite sides of the compensating platform 22. The vertical direction is relative to the initial state, that is, the position of each compensation oil cylinder of the compensation platform 22 in the horizontal state, obviously, when the hull 21 of the transport ship 2 is inclined and raised and sunk under the influence of wind and waves, the orientation of each compensation oil cylinder also changes correspondingly, one end of each compensation oil cylinder is hinged to the compensation platform 22, the other end of each compensation oil cylinder is hinged to the hull 21, and the compensation oil cylinders can be hinged to the bottom wall or the side wall of the sunken groove 211. It should be understood that fig. 5 shows only one embodiment of the compensating connecting member of the compensating platform 22, and the compensating connecting member is not limited to the above configuration, for example, the number of compensating cylinders is not limited thereto, and the compensating platform 22 is not limited to a square shape, as long as the position change of the compensating platform 22 is dynamically compensated by the expansion and contraction of the cylinders, so that the compensating platform maintains a stable position.

When the hull 21 of the transport ship 2 is inclined, the motion detection unit MRU, that is, an attitude sensor, may be arranged above the hull 21 of the transport ship 2, and the attitude sensor may detect the inclination angle and the heave displacement of the hull 21, so as to output the information to the compensation control system, and of course, other angle detection devices and distance measurement equipment may also obtain the inclination angle and the heave displacement, and this scheme is not particularly limited. After the inclination angle and the heave displacement of the ship body 21 are obtained, corresponding telescopic control can be performed on each compensation oil cylinder to compensate the inclination angle or the heave displacement, so that the compensation platform 22 is leveled, and the leveling in the scheme refers to the fact that the compensation platform is always in a horizontal state and is kept at the same height.

The manner of motion compensation of the transport vessel 2 in the case of different position changes is explained in turn below.

First, as can be understood with reference to fig. 9, fig. 9 is a schematic view of motion compensation for roll.

In fig. 9, one end of the roll compensation cylinder 242 and the compensation platform 22 are connected to a first connection point a, and the other end and the bulkhead of the hull 21 are connected to a second connection point B, the length between the two connection points being L₃Perpendicular to L from the first connecting point A₃Intersects with the deck datum plane of the transport ship 2 at a point O, and connects the point O with a second connecting point B to obtain a line L₁. Wherein alpha is L₁And L₂The included angle of (A); theta is L₁The included angle between the base plate and the deck reference surface; gamma is an included angle between a deck around a fore-aft line and a horizontal plane (namely a transverse rocking angle of the ship body 21 under the action of storms), a starboard (a ship bow) descends to be positive, and the starboard can be obtained by measuring through a motion detection unit MRU of the ship body 21; beta is L₂The included angle with the horizontal plane. Since the connection position of the compensation cylinder is determined, L₂And β can both be determined from mechanical dimensional design values.

In roll or pitch motion compensation, it is only necessary to maintain L₂The stability of the compensation platform 22 is ensured by the constant angle β with the horizontal plane.

According to the formula, only L needs to be adjusted₃I.e. adjusting the stroke of the compensation cylinder, the size of alpha can be changed, and beta is kept constant, thereby keeping the stability of the compensation platform 22 and the part to be hoisted.

It can be seen that only L needs to be adjusted₃I.e. adjusting the stroke of the roll compensation cylinder 242, the magnitude of α can be changed, and β is kept constant, thereby compensating the angle of roll and keeping the stability of the compensation platform 22 and the part to be hoisted.

In the compensation process, a predetermined displacement amount may be increased according to the roll compensation cylinder 242 on the side corresponding to the roll angle γ, for example, the displacement amount may be 1mm, and the roll compensation cylinder on the other side correspondingly decreases by a predetermined displacement amount, which is also 1 mm. Until beta after the first adjustment₁(adjusted L)₂Angle to horizontal) is within a certain range from the initial beta error, e.g.If the error does not exceed 10% of beta, finishing the first motion compensation adjustment; if beta is still present₁If the error from beta is larger than 10%, the second round adjustment is continued, and the two roll compensation pressure cylinders corresponding to the roll angle gamma respectively increase and decrease the predetermined displacement, or 1 mm. Repeating the iteration for n times until beta is satisfied_nAnd the error between the beta value and the beta value is less than 10 percent, and the leveling is finished. The error range value and the predetermined displacement may be set, and are not limited to the above example values, and the iterative predetermined displacement may also be changed, for example, the predetermined displacement for the first motion compensation is 2mm, and the predetermined displacement for the second motion compensation is 1mm, and the predetermined displacement may be sequentially set in a decreasing manner, and the predetermined displacement may be automatically adjusted according to the error range.

The compensation of the pitching and the compensation of the rolling are the same, the compensation of the rolling can be understood by referring to the compensation of the rolling, the compensation of the rolling and the compensation of the pitching are carried out simultaneously, the control is carried out according to the rolling angle gamma and the pitching angle obtained by the motion detection unit MRU, the linkage relation exists between the compensation oil cylinders, one compensation oil cylinder is adjusted, and the other compensation oil cylinders can make corresponding telescopic length changes.

With continued reference to fig. 10-11, fig. 10 is a schematic diagram illustrating a comparison between the compensation platform 22 at an initial height and the hull 21 after it has descended for heave compensation; fig. 11 is a schematic diagram comparing the initial height of the compensation platform 22 and the lowering compensation after the hull 21 is raised.

In heave motion compensation, the compensation platform is guaranteed by keeping the distance L4 between the initial height of the compensation platform 22 and the initial level constant₂₂High stability. While controlling, ensure L₄＝L₅+ X, or, L₄＝L₆-X。

In the formula, L₄Is the initial length of the heave compensation cylinder, i.e. the distance of the initial height of the compensation platform 22 from the initial horizontal plane. L is₅，L₆The lengths of the heave compensation cylinder 241 after compression and extension are respectively, and X is the heave displacement of the hull 21 measured by the motion detection unit MRU of the hull 21.

Only need to adjust L₅，L₆Is adjusted, i.e. adjustedL can be maintained by the stroke of the heave compensation cylinder 241₄The stability of the compensating platform 22 and the components to be hoisted is maintained, it is known that when the heave compensating cylinder 241 extends and contracts, other roll compensating cylinders 242 and pitch compensating cylinders 243 change accordingly, and different from the roll and pitch compensating cylinders, the roll compensating cylinders 242 and pitch compensating cylinders 243 on different sides also change in a synchronous extension and contraction manner, and when the roll and pitch compensating cylinders are performed, the roll compensating cylinders 242 on different sides or the pitch compensating cylinders 243 on different sides change in an opposite extension and contraction manner, which has been discussed in detail in the previous roll and pitch compensating manner description.

The specific control mode of heave compensation can refer to the control iteration mode of rolling or pitching. The compensation control system receives the signal of the motion detection unit MRU and controls the heave compensation cylinder to increase or decrease a predetermined displacement, for example 1mm, until the first adjusted adjustment range X of the heave compensation cylinder 241₁(first adjustment is X₁) If the error of the shortest distance X between the initial horizontal plane and the deck reference plane is smaller than a preset range, such as smaller than 10%, finishing heave motion compensation adjustment; if X is still present₁If the error of the second wheel and the X is more than 10 percent, the second wheel adjustment is continued, and the heave compensation pressure cylinder is controlled to increase or decrease a preset displacement, wherein the preset displacement is 1mm for example. Repeating iteration for n times until X is satisfied_nAnd the error from X is less than 10%. Similar to the above iterative compensation of rolling and pitching, the error range value and the predetermined displacement of heave compensation can be set, and not limited to the above example values, and the predetermined displacement of iteration can also be changed, for example, the predetermined displacement of first motion compensation is 2mm, the predetermined displacement of second motion compensation is 1mm, and the predetermined displacement is sequentially set in a descending manner, and the predetermined displacement can be automatically adjusted according to the error range.

Referring to fig. 12, fig. 12 is a schematic diagram illustrating the active lifting of the compensation platform 22.

It should be noted that in this embodiment, after the compensation platform 22 is leveled, that is, after the levelness and the height of the compensation platform are kept unchanged, the hoisting device of the installation vessel 1 starts to hoist, at this time, the compensation control system can control the compensation connecting member to act to lift the compensation platform 22, the supporting force is gradually reduced in the lifting process, the hoisting force of the hoisting device is gradually increased until the supporting force is reduced to zero, and the component to be hoisted leaves the compensation platform 22.

That is, in the present scheme, when the lifting device lifts, the lifting device is not required to lift the component to be lifted away from the compensation platform 22 at once, but the compensation platform 22 does not leave the component to be lifted within a period of time, so as to continuously provide a certain supporting force, the supporting force and the lifting force of the lifting device act on the component to be lifted together, the lifting force is the pulling force of the lifting rope in the lifting device, the provided supporting force can be fed back by the pressure received by the compensation platform 22, a pressure detection element, such as a pressure sensor, can be arranged on the compensation platform 22, and the supporting force of the compensation platform 22 on the component to be lifted is obtained according to the real-time pressure F fed back by the pressure sensor. The supporting force and the hoisting force satisfy the following formula:

F+T＝G

f is the real-time pressure fed back by the pressure sensor, T is the hoisting force, and G is the gravity of the part to be hoisted.

After the hoisting force of the hoisting device is gradually increased to the gravity of the part to be hoisted, the supporting force of the compensation platform 22 is reduced to zero, and the hoisting device provides complete hoisting force to hoist the part to be hoisted away from the compensation platform 22, so that the fatigue failure of the hoisting device is reduced. As mentioned above, the hoisting device generally comprises a hoisting rope, such as a steel cable, and the arrangement is such that the hoisting force of the steel cable is gradually increased from the beginning of hoisting, rather than instantaneously reaching the required hoisting force, thereby reducing the requirement for providing the pulling force of the hoisting rope and reducing the probability of fatigue failure.

Specifically, in the control process, the control can be performed according to the following formula:

L₇＝L₄+H

in the formula, L₄，L₇The initial and extended lengths of heave compensation cylinder 241 are provided. H is the height at which the compensating platform 22 is lifted, i.e. the difference between the distance from the compensating platform 22 and the initial heightThe distance difference may not exceed a predetermined distance, which may be set to not exceed 2m to ensure safety.

In this control mode, only the compensation platform 22H needs to be gradually lifted (i.e. by increasing the stroke of the heave compensation cylinder 241), so that the critical state that the component to be hoisted finally leaves the compensation platform 22 can be achieved, and the stability of the compensation platform 22 and the component to be hoisted can be maintained. In the process of lifting the compensation platform 22 and the component to be lifted, if the above rolling, pitching and heaving motions occur, the rolling compensation cylinder 242, the pitching compensation cylinder 243 and the heaving compensation cylinder 241 are respectively adjusted to keep the compensation platform 22 stable in the lifting stage, for example, the hull 21 is lowered to a height h, and the heaving compensation cylinder 241 compensates for the lowered height h in addition to the lifting distance.

On the premise of heave motion compensation, the compensation control system can control the heave compensation cylinder 241 to lift the compensation platform 22 at a constant speed, so that the hoisting and lifting are more stable. The compensation control system keeps the extension speed V of the heave compensation cylinder 241 at a constant speed by increasing or decreasing the output power P of the heave compensation cylinder 241 to keep the compensation platform 22 lifted at a constant speed, so that the pressure F fed back by the pressure sensor is linearly reduced until the measuring range of the heave compensation cylinder 241 is smaller than the maximum platform jacking height H, which means that the part to be hoisted completely leaves the platform.

F+T＝G

Wherein:

f, real-time pressure fed back by the pressure sensor;

p is the power of the heave compensation cylinder 241;

v-the speed at which heave compensation cylinder 241 extends or shortens;

t is hoisting force;

g is the gravity of the part to be hoisted.

Referring to fig. 13, fig. 13 is a schematic view of the transport vessel 2 in fig. 1.

The transport vessel 2 in this embodiment further comprises a mobile platform 23 capable of moving along the deck of the hull 21, the mobile platform 23 being used for transporting the component to be hoisted, in particular the hub 100 shown in fig. 13, to the compensation platform 22, the moving direction being indicated by the open arrows in fig. 13. Compensation platform 22 is located in the certain region of transport ship 2, and for the convenience of will treating the hoist and mount part and arrange compensation platform 22 in, moving platform 23 sets up and is equivalent to the transportation that realizes treating the hoist and mount part, and the operation is more convenient.

The mobile platform 23 can be moved by means of a hydraulic latch-type guide. As shown in fig. 14, 15, fig. 14 is a schematic view of a hydraulic latch type guide rail; fig. 15 is a top view of fig. 14.

The hydraulic latch type guide rail includes a guide rail 251, a driving cylinder 252, and a latch 23, and the driving cylinder 252 extends and contracts in an extending direction of the guide rail 251. The deck of the body 21 of the transport vessel 2 is provided with the above-mentioned hydraulic latch type guide rail, and the telescopic end 2521 of the driving cylinder 252 can be connected with the mobile platform 23, so as to drive the mobile platform 23 to move along the guide rail 251. The guide rail 251 is further provided with a plurality of first pin holes 251a arranged along the length direction, the telescopic end 2521 of the driving cylinder 252 is provided with a second pin hole 2521a, and the driving cylinder 252 can be positioned by inserting the pin 23 of one first pin hole 251a and one second pin hole 2521a, so that the plurality of first pin holes 251a can realize the positioning of the driving cylinder 252 at a plurality of positions, and accordingly, the movable platform 23 can be positioned at a plurality of positions.

A traction winch can be further arranged, as shown in fig. 13, a traction winch can be arranged in the area a on both sides of the compensating platform 22, and the traction winch and the driving oil cylinder 252 jointly drive the moving platform 23 to move along the guide rail 251, so that the part to be hoisted can be conveyed to the area where the compensating platform 22 is located more smoothly. The hydraulic bolt type guide rail and the traction winch can be designed into an integrated control system to save energy consumption.

It will be appreciated that the mobile platform 23 may also be moved in other ways, for example, it may also be moved along the hull 21 by a rack-and-pinion mechanism, for example, the mobile platform 23 is provided with a gear, the rack is fixed on the deck of the hull 21, and then the mobile platform 23 may also be moved along the rack under the action of a driving component, which may be a motor or a traction winch, etc.

In the scheme, the part to be hoisted is placed on the compensation platform 22, the compensation connecting piece is controlled to act so as to level the compensation platform 22, the part to be hoisted is hoisted after the platform 22 to be compensated of the hoisting device of the installation vessel 1 is leveled, and in the hoisting process, the leveling of the compensation platform 22 is continuously controlled, namely, the stability of the height and the levelness is continuously kept.

Referring to fig. 16, fig. 16 is a schematic view illustrating a process of hoisting the hoisting transportation apparatus according to the embodiment of the present invention.

The first stage is a component transfer stage: the moving platform 23 carries the part to be hoisted, moves to the compensation platform 22 under the driving of the traction winch and the hydraulic bolt type guide rail, and transfers the part to be hoisted to the compensation platform 22.

The second phase is the lowering phase of the hook 13, and the compensation of the compensation platform 22 can be performed simultaneously. The hoisting device of the installation vessel 1 comprises a hoisting rope and a hoisting hook 13 arranged at the tail end of the hoisting rope, a distance meter can be arranged at the hoisting hook 13, the distance meter is used for detecting the distance between the hoisting hook 13 and a part to be hoisted, and gradually lowering the hoisting hook 13, and lowering can be carried out at a first speed, for example 0.3m/s, so as to relatively quickly approach the part to be hoisted, when the distance meter detects that the hoisting hook 13 approaches the part to be hoisted, for example, the nearest distance between the hoisting hook 13 and the part to be hoisted is less than 2m, the hoisting hook 13 can be controlled to lower at a second speed, for example, 0.1m/s, and the second speed is less than the first speed, namely lowering is carried out, until the speed is lowered to 0, and the hoisting hook 13 is just in the area near the hoisting point of the part to be hoisted. The spreader is then installed by the operator, i.e. will be hoisted, in the process accompanied by a compensating levelling operation of the compensating platform 22, including roll, pitch and heave compensation, and the process is described with reference to the above description. In fig. 15, the leveling can be referred to as the detection result of the level, and actually, the data detected by the motion detection unit MRU can reflect whether the leveling and the height of the compensation platform 22 are adjusted for compensation.

At this stage, when lifting hook 13 reached the hoisting point region, the pure manual work of accessible carried out the hoist installation, also can adopt to set up magnetism and inhale device or locking device to increase quick location, guarantee lifting hook 13 rapidly with treat the hoisting structure cooperation on the hoisting part. This algorithm for heroic fully automatic alignment of the hang points can also be used during lowering of the hook 13 to reduce the deviation of manual alignment.

The third stage is a component hoisting stage, which refers to the above-mentioned lifting compensation process until the component is lifted to the maximum lifting height of the compensation platform 22, and the component to be hoisted is completely hoisted away from the compensation platform 22.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.