BE1024887B1 - DEVICE AND METHOD FOR ASSEMBLING A SEA CONSTRUCTION WORK - Google Patents

Abstract

The invention relates to a device for assembling at sea a building made up of components, in particular a wind turbine. The device comprises a robot arm connected to a vessel, which is provided with a tool for engaging the parts, and a control unit which is adapted to move the robot arm such that the parts can be placed on a foundation present in the sea. The invention also relates to a method for assembling at sea a building made up of components, in particular a wind turbine, using the invented device.

Description

(73) Holder (s):

HIGH WIND N.V.

2070, ZWIJNDRECHT Belgium (72) Inventor (s):

JACOBS Johannes Andreas Maria

2990 WUUS WEEL

Belgium

ROOSE Peter Georges Nelly

3510 SPALBEEK

Belgium (54) APPARATUS AND METHOD FOR ASSEMBLING A CONSTRUCTION AT SEA (57) The invention relates to a device for assembling at sea a construction consisting of parts, in particular a wind turbine. The device comprises a robot arm connected to a vessel, which is provided with a tool for gripping the parts, and a control unit, which is arranged to move the robot arm in such a way that the parts can be placed on a foundation present at sea. The invention also relates to a method for assembling a structure built from components at sea, in particular a wind turbine, using the invented device.

BELGIAN INVENTION PATENT

FPS Economy, K.M.O., Self-employed & Energy

Publication number: 1024887 Filing number: 2012/0167

Intellectual Property Office

International classification: B63B 27/18 F03D 1/00 Date of issue: 03/08/2018

The Minister of Economy,

Having regard to the Paris Convention of 20 March 1883 for the Protection of Industrial Property;

Having regard to the Law of March 28, 1984 on inventive patents, Article 22, for patent applications filed before September 22, 2014;

Having regard to Title 1 Invention Patents of Book XI of the Economic Law Code, Article XI.24, for patent applications filed from September 22, 2014;

Having regard to the Royal Decree of 2 December 1986 on the filing, granting and maintenance of inventive patents, Article 28;

Having regard to the application for an invention patent received by the Intellectual Property Office on 13/03/2012.

Whereas for patent applications that fall within the scope of Title 1, Book XI, of the Code of Economic Law (hereinafter WER), in accordance with Article XI.19, § 4, second paragraph, of the WER, the granted patent will be limited. to the patent claims for which the novelty search report was prepared, when the patent application is the subject of a novelty search report indicating a lack of unity of invention as referred to in paragraph 1, and when the applicant does not limit his filing and does not file a divisional application in accordance with the search report.

Decision:

Article 1

HIGH WIND N.V., Haven 1025-Scheldedijk 30, 2070 ZWIJNDRECHT Belgium;

represented by

BROUWER Hendrik Rogier, Meir 24 box 17, 2000, ANTWERP;

a Belgian invention patent with a term of 20 years, subject to payment of the annual fees as referred to in Article XI.48, § 1 of the Code of Economic Law, for: FURNISHING

AND METHOD FOR ASSEMBLING A CONSTRUCTION AT SEA.

INVENTOR (S):

JACOBS Johannes Andreas Maria, Hofakker 32, 2990, WUUSTWEZEL;

ROOSE Peter Georges Nelly, Oudestraat 154, 3510, SPALBEEK;

PRIORITY:

BREAKDOWN:

Split from basic application: Filing date of the basic application:

Article 2. - This patent is granted without prior investigation into the patentability of the invention, without warranty of the Merit of the invention, nor of the accuracy of its description and at the risk of the applicant (s).

Brussels, 03/08/2018,

With special authorization:

BE 2012/0167

2012/0167

Device and method for assembling a structure at sea

The invention relates to a device for assembling a building at sea. The invention also relates to a method for assembling a structure at sea. The invention particularly relates to an apparatus and method for assembling a wind turbine at sea.

A growing number of structures need to be built, maintained and repaired at sea. A typical example concerns an offshore wind turbine, which is built from a nacelle or nacelle, which is supported by a mast that can be more than 100 meters high. The mast comprises several mast segments that are usually placed one after the other. The gondola is the housing on the mast in which a large part of the necessary equipment is located, and which alone can weigh more than 350 tons. The wind turbine is further provided with a hub, on which a number of rotor blades are mounted. The hub forms the connection between the rotor blades of the wind turbine and its shaft. The rotor blades, which can be more than 70 meters in length, convert the kinetic energy of the wind into a rotary movement of the shaft. Today's very common wind turbines are equipped with three rotor blades, whereby the rotor blades can rotate along their longitudinal axis. As a result, they can assume the optimum position at any wind speed, resulting in an optimal yield. They can also be turned out of the wind at high wind speeds by means of a so-called pitch installation. A typical wind turbine further includes a transmission or gearbox to match the generator rotation speed (50 Hz) to the rotational speed of the rotors. The generator converts the movement of the shaft into electricity and supplies the generated power to the public grid.

When assembling, maintaining and / or repairing such large structures at sea, it is customary to transport parts of the structure to a jack-up offshore platform, which is moored near the place where the structure is or is to be built. For example, for building a wind turbine, the mast parts and an assembly of rotor blades mounted on a hub are sailed to the place of construction with a suitable vessel. The jack-up platform is equipped with a hoisting device that lifts the

BE 2012/0167 can take in parts supplied from the vessel and lead them to the building to be built.

2012/0167

When hoisting and placing parts, it is customary that they must at least be moved temporarily to a position other than the transport position. More specifically, parts must be manipulated to move them from their transport position (the position in which the part in question was transported) to their mounting position (the position in which the part in question is added on or to an already existing structure). For example, when hoisting and placing wind turbine rotor blades on an existing or built-up mast, the jack-up platform is provided with an auxiliary crane (a so-called 'tailing crane') that ensures that the assembly of hub and rotor blades (for example three) from the horizontal transport position. is erected at least partially in vertical direction in order to be able to mount this assembly on the mast. One end of a rotor blade is attached to the auxiliary crane.

Due to the wave load on the spud poles of the platform and the relatively low stiffness of the spud poles, an off-shore jack-up platform can show large movements in the horizontal plane in the jacked-up position. Because the crane is also subject to wind load, hoisted parts of the structure can be subject to considerable horizontal movements with respect to an obstruction to the construction connected to the earth or with respect to other parts of the construction already installed. It has been found that the installation of the various parts of a wind turbine in particular is therefore all but simple, and that unusual movements of lifted parts can cause great damage to, for example, the wind turbine blades.

The known device and method are laborious. In addition, the auxiliary crane takes up a lot of space on the platform, so that valuable space is lost. In addition, working with an auxiliary crane requires good coordination and craftsmanship, in the absence of which danger can arise.

BE 2012/0167

An object of the present invention is to provide a device with which (parts of) large structures can be assembled at sea, and in particular wind turbines.

This object is achieved by providing a device for assembling at sea an edifice, in particular a wind turbine, which device comprises a robot arm connected to a vessel and provided with a tool for gripping the parts, and a control unit adapted to move the robot arm such that the parts can be placed on a foundation present in the sea. By using the robot arm, a large structure can be assembled at sea in a safe, accurate and less wind-sensitive manner. In addition, the device allows to continue operating in weather conditions, the device of the prior art not allowing this.

2012/0167

The invention therefore also relates to a method for assembling a large structure at sea, in particular a wind turbine, using the device according to the invention. The method comprises providing a device according to the invention on a vessel and placing the parts on a foundation present in the sea with the aid of the robot arm. By providing the robot arm according to the invention, the use of a crane and of an auxiliary crane is possibly avoided.

The vessel can in principle be any vessel with sufficient load-bearing capacity for the device, but is preferably a jack-up offshore platform, which is moored in the vicinity of the construction site, more particularly in the vicinity of the foundation for the sea. edifice. As will become clear below, the first and second gripping means, as well as the parts of the construction to be assembled, can easily be brought into a transport position in which they can be transported to the assembly location without danger and at a relatively great speed. The jack-up offshore platform and / or vessel typically include a work deck, which can support a substantial load, and anchoring posts that support the work deck. Each substantially vertically extending anchoring post is movable in this direction from a high position during

BE 2012/0167 transport to a low position in the anchored position, in which position the posts are supported on the seabed. The height position of the working deck relative to the water level can be changed by sliding the working deck relative to the posts by means of (hydraulic) jacks. The working deck can be jacked above the water level in the anchored position.

2012/0167

The structure to be assembled at sea can in principle be any structure. However, the apparatus and method according to the invention are particularly suitable for assembling wind turbines at sea, the parts comprising for instance mast parts and the nacelle (or nacelle) with hub of the wind turbine, as well as the rotor blades of the wind turbine.

Robot arm in the present application is understood to mean the arm of any automatically controlled, and preferably programmable, manipulator or robot with at least three degrees of freedom. This definition includes, among other things, the articulated robot (articulated robot), the arms of a Cartesian robot, SCARA robot, etc. In a preferred embodiment of the device according to the invention, the robot arm comprises an articulated robot arm. An articulated robot arm is made up of several mutually coupled arm members, whereby the coupling allows a rotation.

According to an embodiment of the invention, a device is provided in which the articulated robot arm is at least 4-axis, and preferably 6-axis. Because the device according to the invention in a preferred embodiment comprises only one or more robot arms, such a robot arm must have sufficient load-bearing capacity to provide the required (considerable) lifting capacity.

A particularly advantageous embodiment of the device according to the invention is characterized in that the robot arm is designed to carry exchangeable tools. More preferably, the interchangeable tools include a mast section gripper, a rotor blade gripper or a wind turbine gondola gripper. In this embodiment, the device according to the invention has the advantage that the robot arm can be adapted to grip the relevant part. Grasping mast parts and placing them on the foundation usually requires a great deal of force but relatively little freedom of movement. Grabbing

BE 2012/0167 rotor blades, on the other hand, require relatively little force but a great freedom of movement, which has the advantage of being able to manipulate the blades in such a way that they catch little wind. By choosing the tool depending on the part to be gripped, the most economical tool can be selected.

2012/0167

In another embodiment of the device according to the invention, an arm of the robot arm is extendable. This is particularly advantageous because of the usually relatively large distances and heights that the robot arm must be able to bridge to support the parts.

In one embodiment the device according to the invention comprises control means for at least the robot arm. Such control means are known, such as, for example, a PLC control unit, which is designed to control the robot arm, and in particular the mutual movements of the robot arm members and / or the tool, depending on the position of a hoisted or hoisted part .

In an embodiment in which, in addition to the robot arm, a crane is also used to help hoist the parts, the device according to the invention is characterized in that the device comprises control means for coordinating the movements of the crane and the robot arm. According to the invention, the optional crane and / or the robot arm are preferably provided with measuring means for recording the position of, for example, the lifting eye of the lifting means and / or the position of the tool of the robot arm. By communicating the instantaneous position of this or other parts of the crane and / or robot arm to a central computer or PLC, the robot arm can be controlled by means of a feedback loop in such a way that it senses the desired movement. In another embodiment, the position and position of the part is measured and the movement of the robot arm is controlled depending on the position and position of the part. Yet another possibility comprises an embodiment in which the device is provided with measuring means for measuring the force in a robot arm member or in several robot arm members, and the movement of the robot arm is controlled such that the measured force is comprised between a minimum and a maximum value . It will be clear that the skilled person has several options available for it

BE 2012/0167 to coordinate the movements of the optional crane and the robot arm, and that the invention is not necessarily limited to the use of a single control unit.

2012/0167

In yet another embodiment of the invention, a device is provided wherein the robot arm is connected to a support structure extending substantially perpendicular to the plane of the deck. Such a support structure makes it easier to reach relatively great heights with the tools of the robot arm, while at the same time relatively large loads can be manipulated.

Another embodiment of the device according to the invention is characterized in that the robot arm is attached to the support structure by means of a coupling body which is translatable in the longitudinal direction of the support structure. In another embodiment, the coupling body is rotatable about the longitudinal axis of the erected support structure, which further benefits the range of the robot arm.

Further advantages are provided by providing an embodiment of the device according to the invention wherein the robot arm is extendable transverse to the longitudinal axis of the erected support structure. This makes it possible to engage parts which are at different transverse distances from the support structure. By rotating the first gripper of the first robotic arm to rotate the longitudinal axis of the erected support structure, an engaged part can, in a foolproof and substantially wind-insensitive manner, from a storage location on the vessel, in particular the working deck of an offshore platform, above foundation, where any transverse distance to the foundation can be bridged by extending the robot arm in this direction. The robotic arm ensures sufficient stability of the hoisted part while the required lifting power is provided by the hoisting means.

A space-saving embodiment of the device according to the invention is characterized in that the erected support structure comprises a monopile, which is provided on the outside with a guide for the robot arm. The guide comprises, for example, a pair of guide rails arranged at some radial distance from the monopile along which the robot arm or the coupling body can slide, for instance in the longitudinal direction of the

BE 2012/0167 support structure established. The distance to the monopile can be bridged by a truss structure if desired.

2012/0167

Weight can be saved by providing an embodiment of the device in which the erected support structure comprises a truss. Such an embodiment is robust and well resistant to the often rough conditions on site.

In one embodiment, it has further advantages if the support body is extendable transverse to the longitudinal axis of the erected support structure. The erected support structure will usually protrude a certain distance above the deck of the vessel or the working deck of the platform. The height of the support structure is preferably at least 15 meters above the working deck of the vessel or platform, more preferably at least 20 meters, and most preferably at least 25 m. However, the height is preferably limited to a maximum of 35 m, so that preferred heights are between 15-35 meters above the working deck of the vessel or platform, more preferably between 20-35 meters, and most preferably between 25-35 m.

A space-saving device according to the invention is provided by an embodiment in which the vessel comprises a jack-up platform and the support structure is arranged around an anchoring post (also referred to as a spud pole) of the platform.

In yet another embodiment of the invention, a device is provided in which the robot arm comprises an articulated robot arm connected to a support platform located on the deck. The first robot arm member which is connected to the support platform will have to have sufficient strength and rigidity in order to be able to reach relatively great heights with the tools of the robot arm and at the same time be able to carry relatively large loads. A preferred embodiment comprises a first robot arm member in the form of a truss mounted on the supporting platform or work deck. Furthermore, it is advantageous if the support platform is rotatably arranged relative to the working deck, the axis of rotation extending substantially perpendicular to the working deck. If desired, a number of further robot arm members can be rotatably connected to the other side of the first robot arm member relative to the supporting platform.

BE 2012/0167

The last robotic arm member will usually carry the tool although it is also possible to provide the robotic arm with several tools which are carried by different robotic arm members if desired.

2012/0167

With the invented device it is possible to efficiently assemble a building built from parts, in particular a wind turbine, at sea. In an embodiment of the invention, a device can be provided for this purpose comprising at least two robot arms, wherein first parts are placed on a foundation present in the sea with the aid of the first robot arm, and second parts are placed on the first parts with the aid of the second robot arm. placed. In a typical embodiment, the first parts comprise the mast parts of a wind turbine mast and the nacelle, and the second parts the wind turbine blades. The use of two or more robot arms has the advantage, among other things, that each robot arm can be adapted to the part to be supported and engaged.

In order to be able to bring the parts within the working range of the hoisting means, and in particular within the working range of the robot arm (s), an embodiment of the device is provided which comprises moving means for moving the parts over the deck of the vessel into the working area. of the robot arm. An advantageous embodiment in this connection is characterized in that the displacement means comprise sliding tracks or rails arranged on the deck.

An embodiment of the invention provides a method in which the robotic arm, which is preferably at least 4-axis, and even more preferably 6-axis, is manipulated under actuation of the control unit with an engaged part to align this part with the foundation present in the sea and any parts already placed on it.

The method according to the invention is particularly suitable for assembling a wind turbine at sea, in which embodiment the parts to be manipulated 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 with one or more rotor blades.

BE 2012/0167

The invention will now be explained in more detail with reference to the attached figures, without, however, being limited thereto. In the figures: Figs. 1 shows a schematic side view of an embodiment of the device according to the invention;

Fig. 2 shows 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 FIG. 1 in another step of an embodiment of the method according to the invention;

Fig. 4 is a schematic side view of the device shown in FIG. 1 in a further step of an embodiment of the method according to the invention;

Fig. 5 is a schematic side view of another embodiment of the device according to the invention;

Fig. 6 is a schematic side view of the device shown in FIG. 1 in a step of an embodiment of the method according to the invention;

Fig. 7 is a schematic side view of the device shown in FIG. 1 in another step of an embodiment of the method according to the invention; and finally fig. 8 is a schematic side view of the device shown in FIG. 1 in a further step of an embodiment of the method according to the invention.

2012/0167

Referring to Figure 1, there is shown an embodiment of the device specifically intended for assembling a wind turbine 50 at sea. The device shown is provided with a first robot arm 2, designed for supporting mast sections 51 during lifting and a gondola 53 with hub 54 on the foundation 52 present in the sea, and a second robot arm 3, designed for supporting during lifting and placing second parts on the mast sections 51, which in the present embodiment at least comprise the rotor blades 55 of the wind turbine 50.

The first and second robot arm (2,3) are both connected to an erected support structure in the form of a truss 21, which is provided on the outside with a guide (not shown) for the first and second robot arm (2, 3). The guide comprises longitudinal ribs running in the longitudinal direction 24 of the truss structure 21 (corresponding to the vertical direction) along which a coupling body 20 for coupling between the truss 21 and the first robot arm 2, and a coupling body 30 for

BE 2012/0167 be able to translate the coupling between truss 21 and the second robot arm 3 in the longitudinal direction of the truss structure, and optionally rotate around the longitudinal axis 24. In view of the dimensions of rotor blades 55, the height of the support structure 21 is preferably at least 20 meters above the working deck 10 of the vessel 1, more preferably at least 30 meters, and most preferably at least 35 meters above the working deck 10 of the vessel 1. The first robot arm 2 is provided with an optionally exchangeable gripper 22 and is designed such that it is able to clamp and support the mast sections 51 and, possibly after exchange of the gripper, the nacelle 53 with hub 54, the hoisting crane 100 mainly providing the required lifting capacity. The gripper 22 is attached to the coupling body 20 via a robot arm member 23, which engages the guide of the truss 21 and is translatable in the longitudinal direction 24 of the truss 21. The first robot arm 2 is moved along the truss 21 by means of drive means (not shown) such as a motor.

Both coupling members (20, 30) are mounted rotatably about the longitudinal axis 24 of the lattice 21 in the shown embodiment and can therefore be rotated by means of drive means known in the art. The robot arm member 23 in the form of a lattice structure is extendable in the direction 25 transverse to the longitudinal axis 24 of the support structure 21. A mast section 51 supported with the first robot arm 2 can hereby be moved, for example, from a position in the vicinity of the lattice 21 to a position further away from the lattice 21, the hoisting crane 100 providing the required hoisting force. This allows accurate alignment with foundation 52 to be achieved.

The second robot arm 3 comprises an articulated robot arm which is built up of two members 31 and 32, at least one of which is telescopic if desired. The members 31 and 32 can move with each other, a 6-axis articulated robot being preferred. In many cases, a 3-axis, 4-axis or 5-axis robot can also be used. The gripping arm is connected to the support structure 21 by means of a coupling body 30 rotatable about the longitudinal axis 24. The coupling body 30 can correspond to the coupling body 20. In such an embodiment, the coupling body (20, 30) is provided with means around various robot arms (2 , 3) to connect. The different robotic arms (2, 3) are in unused condition

2012/0167

BE 2012/0167 on the working deck 10, as shown in figure 1 for the second robot arm 3, and in figure 4 for the first robot arm 2. To perform the rotation, drive means (not shown) such as a motor are present. The free member 32 comprises at its free end a second gripper 33, which is adapted to clamp and support rotor blades 55 during hoisting with the hoisting crane 100. For this purpose, the second gripper 33 preferably has a gripping geometry which substantially corresponds to the geometry of a cross-section of the rotor blades 55. As is known, such a cross-section usually has the geometry of an airfoil aimed at catching as much wind as possible. Gripper 33 is also interchangeable with another type of gripper, if desired, for example for a mast part 51.

2012/0167

The vessel 1, which for instance comprises a jack-up offshore platform, in addition to a working deck 10, which can carry a substantial load of typically more than 1000 tons, is also provided with anchoring posts 4 supporting the working deck 10. Each anchoring post 4 extends substantially vertically and is movable vertically from a not shown high position during transportation to a low position in the anchored position (shown in Figures 1 - 5), in which position the posts 4 are supported on the seabed. The height position of the working deck 10 relative to the water level can be changed by sliding the working deck 10 relative to the posts 4 by means of (hydraulic) jacks 5.

The vessel or platform 1, provided with the device according to the invention, is usually moored in the immediate vicinity of a foundation 52 for a wind turbine 50 present in the sea. The foundation 52 can herein comprise any type of foundation such as, for example, a jacket, a monopile or a so-called gravity based foundation (GBF). During the transport of the device, the anchoring posts 4 are in the raised position. Furthermore, storage places are provided on the work deck 10 of the vessel for the first and second parts in the form of a rack 6 for the rotor blades 55, and a position for the first gripper 22 accessible for the mast sections 51 and the gondolas 53 with hub 54. The mast sections 51 are in a vertically upright position during transport, but it is also possible to adopt a different configuration.

BE 2012/0167

A suitable method for assembling a wind turbine 50 built up from the mast sections 51 and rotor blades 55 at sea comprises placing mast sections 51 on the foundation 52 present in the sea by means of the first robot arm 2, and subsequently placing them on the mast sections 51 thus placed. of a rotor (53, 54) and finally placing rotor blades 55 with the aid of the second robot arm 3.

2012/0167

More specifically, with reference to Figures 1 and 2 and after anchoring the vessel 1 by lowering the anchoring posts 4, a first mast section 51 is engaged by the gripper 22 of the first robot arm 2, preferably in an upper part of the mast section 51, wherein the first gripper 22 is in an extended position relative to the support structure 21. This position is achieved by extending the support body 23 in the transverse direction 25. The gripper 22 of the first robot arm 2 will usually be located in a lower part of the support structure 21 when engaging a mast section 51. The gripper 22 is rotated with the engaged mast section 51 about the longitudinal axis 24 of the support structure 21, for example by rotation of the guide, the gripper 22 being extended transversely to the longitudinal axis 24, if desired, to align the mast section 51 with the sea foundation 52 present. Next, the gripper 22 with gripped mast section 51 is moved downward along the support structure 21 until it contacts the top of the foundation 52 and is secured thereon, for example by bolted connections. The gripper 22 of the first robot arm 2 is then rotated back about the axis 24 into a position in which the first gripper 22 can engage a second mast section 51. This mast section 51 is also preferably engaged in an upper part thereof.

The above-described operations are repeated as many times as mast sections 51 are to be placed. The gripper 22 of the first robot arm 2 is then rotated back about the axis 24 to a position where the first gripper 22 can engage a nacelle 53 with hub 54. To this end, the gripper 22 is optionally provided with means for changing the engaging geometry and adapting it to the geometry of a nacelle with hub. In the step shown in Figure 3, the gripper 22 with the engaged gondola 53 is rotated about the longitudinal axis 24 of the support structure 21 and then moved upwards along the guide in the direction 24 to a position in which the gondola 53 is completely above the already placed mast sections 51. It is noted that

Here, too, it is possible here to first translate the first gripper 22 in the direction 24 and then to rotate, or to perform both movements simultaneously. Then, if desired, the gripper 22 is extended transversely to the longitudinal axis 24 to bring the nacelle 53 into alignment with the mast sections 51 already present on the foundation 52, after which the nib 22 with the nacelle 53 engaged along the support structure 21 is moved slightly downward until this contact with the top of the already placed top mast section 51 and is secured to it, for example by bolted connections.

2012/0167

In the step shown in figure 4, a rotor blade 55 is brought from the storage rack 6 to the nacelle 53 placed on the mast sections 51 by means of the second articulated robot arm 3 and fastened to it in a known manner. Here, the members 31 and 32 are rotated relative to each other (for example, they are mutually coupled by means of a universal joint) and, if desired, are telescopically extended to align the rotor blade 55 with the nacelle 53 and in particular with the hub 54.

This step is then repeated as many times as rotor blades 55 are to be coupled to the hub 54. In the embodiment shown, the total number of rotor blades 3 to be coupled to the hub 54 relates to a rotor comprising an assembly of a hub 54 and three rotor blades 55.

With reference to Figures 5-8, another embodiment of the device according to the invention is shown. In this embodiment, the device comprises an articulated robot arm 100 which is connected to a supporting platform 110 located on the deck 10. The first robot arm member 101 which is connected to the supporting platform 110 is designed as a hinged plate 120 attached to the supporting platform 110 or working deck 10. craftsmanship. The first robot arm member 101 thus has sufficient strength and rigidity to be able to reach relatively great heights with the tool of the robot arm 100 and at the same time be able to carry relatively large loads at a relatively low weight. The support platform and / or the hinge plate are rotatably disposed with respect to the work deck 10, the axis of rotation of which extends substantially perpendicular to the work deck 10 in the direction 24. On the other side of the first robot arm member 101 relative to the support platform 110 in the embodiment shown, two further robot arm members (102, 103) are rotatably connected. The last robotic arm member 103 carries it

BE 2012/0167 tools (104a, 104b, 104c) for engaging the mast sections 51, the nacelle 53, and the wind turbine rotor blades 55, respectively, which tools are interchangeable with the robotic arm as described in more detail above. It is also possible in this embodiment to provide the robot arm 100 with a plurality of tools which, if desired, are carried by different robot arm members.

2012/0167

With reference to Figures 5 and 6, after anchoring the vessel 1 by lowering the anchoring posts 4, a first mast section 51 is engaged by the robot arm 100 with a tool 104a, preferably in an upper part of the mast section 51. The mast section 51 concerned is then engaged with tool 104a of the robot arm 100, after which a control unit (not shown) controls the robot arms (101, 102, 103) such that the desired alignment with the foundation 52 is obtained. The tool 104a is moved downwardly with an engaged mast section 51 until it contacts and is secured to the top of the foundation 52, for example, by bolted connections. The robot arm 100 is then brought by the control unit to a position in which the tool 104a can engage a second mast section 51. This mast section 51 is then also gripped and lifted by the robot arm 100, whereby this engagement ensures that the conscious mast part 51 is not too much hindered by, for example wind-induced, uncontrolled movements.

The above-described operations are repeated as many times as mast sections 51 are to be placed. Subsequently, with the robot arm 100, a gondola 53 with hub 54 arranged on the deck 10 is engaged with a tool 104b fitted for this purpose on the robot arm 100, and brought into a position above the already placed mast parts 51 and placed thereon under control of the control unit. The nacelle 53 is also secured to the upper mast section 51, for example by bolted connections.

In the step shown in figure 8, a rotor blade 55 is then brought from the storage rack 6 to the nacelle 53 placed on the mast sections 51 with the aid of the robot arm 100 and attached to it, the attachment taking place in a known manner. Paragraphs 101, 102 and 103 are hereby rotated relative to each other below

BE 2012/0167 controlling the control unit to align the impeller 55 with the nacelle 53 and more particularly with the hub 54. This step is then repeated as many times as impellers 55 are to be coupled to the hub 54.

2012/0167

The invention is not limited to the embodiments shown in the figures, and many variants thereof are possible within the scope of the appended claims. For example, it is possible to attach one or more rotor blades 55 to the hub 54 (for example in a so-called bunny form), the hub 54 being still in the hoisted state on the support structure 21, in other words not yet placed on the already on the foundation. 52 mast sections 51 placed, and only after that to be placed on the mast sections 51 by vertical translation of the gripper 22 of the first robot arm 2 along the support structure 21.

Claims (24)

Conclusions BE 2012/0167 2012/0167 Device for assembling at sea a structure built from parts, in particular a wind turbine, which device comprises a robot arm connected to a vessel and provided with a tool for engaging the parts and a control unit which is arranged to move the robot arm in such a way that the parts can be placed on a foundation present in the sea. Device according to claim 1, characterized in that the robot arm comprises an articulated robot arm. Device according to claim 2, characterized in that the articulated robot arm is at least 4-axis, and preferably 6-axis. Device according to any one of the preceding claims, characterized in that the robot arm is adapted to carry exchangeable tools. Device according to claim 4, characterized in that the interchangeable tools comprise a grab for a mast section, a rotor blade or a gondola of a wind turbine. Device according to any one of the preceding claims, characterized in that an arm of the robot arm is extendable. A device according to any one of the preceding claims, characterized in that the robot arm comprises an articulated robot arm hingedly connected to a support platform located on the deck with a first robot arm member. 8. Device as claimed in claim 7, characterized in that the supporting platform is rotatably disposed relative to the working deck, the axis of rotation extending substantially perpendicular to the working deck. BE 2012/0167 Device according to any one of the preceding claims, characterized in that the robot arm is connected to a support structure extending substantially perpendicular to the plane of the deck. 2012/0167 Device as claimed in claim 9, characterized in that the erected support structure comprises a lattice, which is provided with a guide for the robot arm. Device according to any one of claims 7-10, characterized in that the vessel comprises a jack-up platform and the support structure comprises a spud pole of the platform. Device according to any one of the preceding claims, characterized in that the device comprises at least two robot arms. Device according to any one of the preceding claims, characterized in that the device further comprises displacement means for moving the parts over the deck of the vessel into the working range of the robot arm. 14. Device as claimed in claim 13, characterized in that the displacement means comprise sliding tracks or rails arranged on the deck. 15. Device as claimed in any of the foregoing claims, further comprising hoisting means, which are arranged for hoisting the parts on a foundation present in the sea during placing of the parts with the robot arm. A method for assembling a structure built from parts at sea, in particular a wind turbine, which method comprises providing a device according to any one of the preceding claims on a vessel, and placing the parts on the vessel using the robot arm. a foundation present in the sea. Method according to claim 16, characterized in that the robot arm is at least 4-axis, and preferably 6-axis, and that the robot arm is manipulated with an engaged part by means of the control unit in order to BE 2012/0167 alignment with the foundation present in the sea and any parts already placed on it. 2012/0167 Method according to any one of claims 16-17, characterized in that the robot arm is arranged to carry exchangeable tools and that the tool is exchanged with a tool suitable for supporting a part. Method according to claim 18, characterized in that the interchangeable tools comprise a grab for a mast section, a rotor blade or a gondola of a wind turbine. A method according to any one of claims 16-19, characterized in that hoisting means support or engage the parts, at least during their placement by the robot arm. A method according to any one of claims 16-20, characterized in that the robot arm is connected to the support structure by means of a coupling body and the tool is translated with an engaged part along the support structure into a position from which the part is aligned. with the foundation present in the sea and any parts already placed on it. A method according to claim 21, characterized in that the coupling body is rotated about the longitudinal axis of the erected support structure to align the part with the foundation present in the sea and any parts already placed thereon. Method according to any one of claims 16-22, characterized in that the parts comprise the mast sections, the rotor blades and the nacelle of a wind turbine. Method according to claim 23, characterized in that the parts comprise the nacelle with a wind turbine hub, the hub being provided with rotor blades. io LO Q-rfVL 2012/0167 ......... π π η..π π π π π η π π η π π η π π π j □ ο ο 7 I — ί η η ο ι ". , - ·. , ·. ? . ««. i A, · /α>'.·;<··./·.<;7. ; · <\ \···? · ΤΛ ··· * 7Τ, «· · 4 ·, ι *: * t, ·.,» · «... · - ·. * <