An integrated vessel with wave compensation capability for transporting completed offshore wind turbines each comprising a wind turbine tower, comprising a hull, a bow, a middle, a stern, a deck, a wind turbine conveyor system, a dynamic positioning propeller system, and a six-degree-of-freedom parallel manipulator system arranged in the hull;
- the completed wind turbines are fixed on the wind turbine conveyor system by multiple wind turbine stabilizing blocks, and a clamping system is equipped in the six-degree-of-freedom parallel manipulator system;
- the dynamic positioning propeller system is installed at the bottom of the hull;
- the system comprises a propeller a, a propeller b, and a propeller c, which is distributed in the bow, middle and stern of the vessel;
- the six-degree-of-freedom parallel manipulator system is installed at the stern of the hull;
- the system comprises a large hydraulic cylinder a, a large hydraulic cylinder b, a large hydraulic cylinder c, a large hydraulic cylinder d, a large hydraulic cylinder e, a large hydraulic cylinder f, an upper table of six-degree-of-freedom parallel manipulator, a lower Hooke hinge, and an upper Hooke hinge;
- the top of each large hydraulic cylinder is connected to the upper table of the six-degree-of-freedom parallel manipulator by the upper Hooke hinge, and the bottom is connected to the deck of the vessel by the lower Hooke hinge;
- the large hydraulic cylinder a and the large hydraulic cylinder b are arranged in a V shape, the large hydraulic cylinder c and the large hydraulic cylinder d are arranged in a V shape, as well as the large hydraulic cylinder e and the large hydraulic cylinder f are arranged in a V shape;
- the clamping system is located in a gap of the upper table of six-degree-of-freedom parallel manipulator;
- the system comprises a clamp plate a, a clamp plate b, a small hydraulic cylinder a, a small hydraulic cylinder b, a small hydraulic cylinder c, a small hydraulic cylinder d, a small hydraulic cylinder e, a small hydraulic cylinder f, a small hydraulic cylinder g, a small hydraulic cylinder h, small Hooke hinges, and a hinge pin
- the clamp plate a and the clamp plate b are connected to the hinge pin;
- one end of each the small hydraulic cylinder a, the small hydraulic cylinder b, the small hydraulic cylinder c, and the small hydraulic cylinder d are respectively connected to the clamp plate a by one or more of the small Hooke hinges, and the other ends are respectively connected to the upper table of six-degree-of-freedom parallel manipulator by one or more of the small Hooke hinges;
- one end of each the small hydraulic cylinder e, the small hydraulic cylinder f, the small hydraulic cylinder g, and the small hydraulic cylinder h are respectively connected to the clamp plate b by one or more of the small Hooke hinges, and the other ends are respectively connected to the upper table of six-degree-of-freedom parallel manipulator by the small Hooke hinges;
- the characterized in that, an installation method of the integrated vessel is:
- in the first step, the integrated vessel is berthed at a wind turbine assembly dock comprising lifting equipment;
- the assembled wind turbine is hoisted to the wind turbine conveyor system of the integrated vessel using the lifting equipment of the dock, and the wind turbine is placed above the wind turbine stabilizing block;
- the bottom of the wind turbine tower is inserted one of into the wind turbine stabilizing blocks;
- in the second step, the integrated vessel navigates to the location of a completed foundation monopile of a fixed wind turbine;
- at this time, a dynamic positioning propeller system starts to work, and the magnitude and direction of the output force of each propeller is changed, so that the foundation monopile of the fixed wind turbine is guided into an installation port located at the stern of the integrated vessel;
- subsequently, the dynamic positioning propeller system compensates for low frequency motions of the integrated vessel resulting from environmental forces, ensuring that the foundation monopile of the fixed wind turbine remains within the installation port at the stern of the integrated vessel;
- in the third step, the wind turbine conveyor system and the six-degree-of-freedom parallel manipulator system start to work;
- the wind turbine conveyor system drives the wind turbine stabilizing blocks and completed wind turbines towards the stern of the vessel, and the six-degree-of-freedom parallel manipulator system drives the clamping system to move to a position, which is parallel to the movement direction of the wind turbine conveyor system;
- subsequently, the wind turbine conveyor system continues to move until the clamping system reaches a position suitable for clamping;
- in the fourth step, each small hydraulic cylinder of the clamping system shrinks, causing an opening of clamp plate a and clamp plate b, and moving the six-degree-of-freedom parallel manipulator system;
- once the clamp plate a and clamp plate b have been surrounded the wind turbine tower, the six-degree-of-freedom parallel manipulator system moves to a designated position;
- each small hydraulic cylinder extends, causing the two clamp plates to clamp the wind turbine tower, and the six-degree-of-freedom parallel manipulator system moves upward to extract the wind turbine tower from the wind turbine stabilizing block and transport the completed wind turbine to the top of the foundation monopile of the fixed wind turbine;
- in the fifth step, the six-degree-of-freedom parallel manipulator system begins to compensate for six-degree-of-freedom wave frequency motions of the integrated vessel, and a ship-mounted total station measures a real-time relative motion between a bottom center of the wind turbine tower and a top center of the foundation monopile of the fixed wind turbine, thereby determining their relative position changes;
- any positional variation errors are compensated by the six-degree-of-freedom parallel manipulator system, ensuring that the bottom of the wind turbine tower remains stationary relative to the foundation monopile of the fixed wind turbine;
- during this process, the six-degree-of-freedom parallel manipulator system gradually decreases until the bottom of the wind turbine tower is successfully docked with the top of the foundation monopile of the fixed wind turbine, indicating the completion of the wind turbine installation;
- in the sixth step, each small hydraulic cylinder of the clamping system shrinks, the two clamp plates open, and the six-degree-of-freedom parallel manipulator system moves, allowing the clamping system to disengage from the wind turbine tower, then, each small hydraulic cylinder and each large hydraulic cylinder are reset;
- in the seventh step, the dynamic positioning propeller system propels the integrated vessel, allowing it to move away from the wind turbine that is already installed, and the integrated vessel navigates to another location to prepare for another installation, and repeat the above steps.