This application claims the benefit of Danish Application No. PA 2017 70934 filed Dec. 13, 2017, Danish Application No. PA 2017 70976 filed Dec. 21, 2017 and PCT/DK2018/050340 filed Dec. 10, 2018, International Publication No. WO 2019/114898 A1, and the amended sheets from the IPRP, which are hereby incorporated by reference in their entirety as if fully set forth herein.

The invention relates to a system for lifting and controlling the horizontal orientation and/or position of components, such as wind turbine main components, a lifting device, and a method

BACKGROUND

Components such as wind turbine main components get larger and/or heavier, and wind turbines continue to get taller. This provides a need for solutions for mounting and dismounting such components.

WO 2008/061797 discloses a system for mounting wind turbine blades wherein the system comprises a crane with a lifting wire fixed to a yoke. The system moreover comprises control wires which are fixed to the yoke and guiding ropes respectively, and the control wires are configured to run over pulleys of a sliding carriage which can be moved along the crane boom.

JP 6156975A discloses assistance wires extending horizontally and connected to each their guide wire. The assistance wires are connected to cargo lifted by a crane, and moves vertically along the guide wires together with the cargo.

It is also known to adjust the horizontal orientation of components by means of manually pulling steering/assistance wires connected to a component to be lifted.

The above solutions suffer from drawbacks which the present invention may reduce or even avoid. For example, the above solutions may induce unwanted forces at a crane arrangement used for lifting the components.

The present invention provides advantages with regards to lifting and controlling the horizontal orientation of components, such as wind turbine main components, during installation and/or dismounting of said components. For example, the present invention may provide advantages with regard to avoiding or reducing unwanted forces at a crane arrangement lifting the components and/or advantages with regard to controlling the horizontal orientation and/or position of lifted components.

THE INVENTION

The invention relates to a system for lifting and controlling the horizontal orientation and/or position of components, such as wind turbine main components, during installation and/or dismounting of said components. The system may comprise one or more of

a crane boom arrangement and one or more lifting lines guided by said crane boom arrangement for lifting said components,

a lifting device comprisinga crane connection arrangement connected to said one or more lifting lines,a frame arrangement connected to said crane connection arrangement,a first and a second steering wire guide configured for guiding steering wires connected to and supported by said frame arrangement, anda component connection arrangement connected to said frame arrangement and configured to be connected directly or indirectly to the component to be lifted,

wherein the system further comprises a rotation control arrangement configured to adjust the orientation in a horizontal plane of a component lifted by means of said lifting device by adjusting one or more of said steering wires, and

a guiding arrangement connected to said crane boom arrangement, wherein said steering wires are connected to said guiding arrangement and extend from the guiding arrangement in a direction towards the lifting device with a mutual angle between the steering wires,

wherein a relative displacement between said frame arrangement and one or both of the first and second steering wire guides is configured to be provided to control the mutual angle between the steering wires.

The present system may e.g. solve problems that may occur when lifting and controlling the horizontal orientation and/or position of components, such as wind turbine main components, during e.g. installation and/or dismounting of such components.

When handling such components, it is may be necessary to be able to provide a suitable rotation in the horizontal plane of the component while it hangs from the lifting line(s), in order to enable proper installation at the wind turbine at the correct position and/or to enable proper positioning at a support position at e.g. the ground, at a transportation vehicle, at a vessel such as a ship and/or the like. It may also be relevant to be able to rotating the frame arrangement and thus provide a desired horizontal orientation of the lifting device/frame arrangement when connecting components to the frame arrangement one way or the other either during installation and/or dismounting of components.

The present invention thus provides an advantageous and safe solution for controlling the horizontal orientation and position of components which may be provided without the need of manual/human induced forces on the component by manually operated steering wires.

Generally, when adjusting the distance between the lifting device and the crane boom or guiding arrangement, e.g. by altering the angle/position of parts of the crane and adjustment of the steering wires by winding and/or unwinding both may be needed.

An adjustment of the distance between the lifting device and the crane boom or guiding arrangement may also cause a change in angle between the steering wires extending towards the lifting device. The angle will as, a general rule, reduce, and e.g. tend to move towards a more acute angle, as the lifting device is moved further away from the crane arrangement. Correspondingly, when moving the lifting device and thus the component to be lifted, closer to the crane boom, the angle will increase of not adjusted. This may reduce the control of the horizontal orientation of the lifting device and/or reducing the possible rotation range of the frame arrangement/lifted component.

However, when providing a relative displacement between the frame arrangement and one or more of the first and second steering wire to control the mutual angle between the steering wires when the frame arrangement is rotated in the horizontal plane, this may e.g. provide an improved operational range of the system and/or an improved control of the horizontal orientation of the component to be lifted, e.g. to be able to keep the component sufficiently still/steady.

The present invention may moreover help to provide a space saving control of the angle between the steering wires, as the control is provided at/by the lifting device.

Generally, it is understood that the first and second steering wire guides may also be referred to as “steering line guides”, and/or that the first and second steering wire guides may be configured to/arranged to guide steering wires/lines/ropes made from e.g. metal, such as steel and/or from a polymer material such as Polyethylene, e.g. Ultra-High Molecular Weight Polyethylene (UHMwPE).

In preferred aspects of the invention, the rotation control arrangement may be configured to adjust said one or more of said steering wires to rotate the frame arrangement in the horizontal plane, and wherein said relative displacement between the frame arrangement and one or both of the first and second steering wire guides is configured to be provided to control the mutual angle between the steering wires when said frame arrangement is rotated in a horizontal plane.

When rotating the component connected to the frame arrangement, this will change the angle between the steering wires. The available frame rotation range may e.g. depend on the angle between the steering wires, as a too acute angle may increase the risk of an unwanted continuation of the rotation of the component and thus risk that the control of the horizontal orientation of the component is lost. This may be dangerous to humans nearby and/or cause a risk of severe damage to nearby structures. However, by controlling the angle between the steering wires/lines, this may cause an enhanced control during rotation of the frame arrangement in a horizontal plane.

In advantageous aspects of the invention, said first and a second steering wire guides may be connected to and supported by said frame arrangement, and one or both of the first and second steering wire guides may be configured to be displaced relative to said frame arrangement to control said mutual angle between the steering wires.

This may provide a space saving solution, as e.g. structures of the lifting device that are kept in a fixed position during the rotation of the frame arrangement and supporting the steering wire guides may be omitted. Moreover it may be an advantageous solution with respect to simplicity and control of the rather large forces that may be induced during the rotation of the component to be lifted.

Additionally, it may cause an advantageous solution which may enable an active control of the angle between the steering wires in response to rotation of the frame arrangement and/or when moving the lifting device away from and/or toward the guiding arrangement and/or the crane boom arrangement.

Advantageously, in aspects of the invention said first and/or second steering wire guides may be configured to provide that the angle between the steering wires/lines is within an angle range between 50° and 130°, preferably between 60° and 120°, such as between 75° and 105°, preferably between 85° and 95° when the frame arrangement is rotated.

This angle may e.g., in aspects of the invention, be configured to be kept within said angle range, within a frame rotation range of ±60° such as within a frame rotation range of ±50° e.g. within a frame rotation range of about ±40°.

The angle between the steering wires may in embodiments of the invention be controlled by adjusting the mutual distance between the first and second steering wire guides.

This may provide a preferred solution which may e.g. be space saving. Moreover, it may provide an advantageous solution which may enable an active control of the angle between the steering wires in response to rotation of the frame arrangement and/or in response to moving the lifting device away from and/or toward the guiding arrangement and/or the crane boom arrangement.

In preferred aspects of the invention, one or both of the first and second steering wire guides are configured to be displaced towards and/or away from a centre part of the lifting device so as to control said mutual angle between the steering wires, preferably based on control signals from a displacement control system.

In preferred aspects of the invention, the mutual distance between the first and second steering wire guides may be:configured to be increased in response to an increase in the distance between the crane boom arrangement and/or guiding arrangement, and the lifting device,configured to be reduced in response to a decrease in the distance between the crane boom arrangement and/or guiding arrangement and the lifting device, and/orconfigured to be adjusted in response to a rotation of the frame arrangement.

This may generally help to provide a more safe solution and/or a solution with improved operational ranges/capabilities. It may also help to provide an advantageous solution for controlling the angle between the steering wires to e.g. be able to keep the lifted component and/or the lifting device still/steady.

In preferred aspects of the invention, the first and second steering wire guides may be configured to be displaced along a longitudinal frame part of said frame arrangement, where said longitudinal frame parts are configured to extend in a direction away from a centre part of said lifting device, preferably in a substantially horizontal direction, when the lifting device hangs from said one or more lifting lines.

In advantageous aspects of the invention, each of said steering wires may be configured to be guided at said lifting device by at least one further steering wire guide, such as a pulley, and wherein said first and/or second steering wire guides may be configured to be displaced relative to said at least one further steering wire guide.

In preferred aspects of the invention, said first and second steering wire guides may be configured to provide guiding points for said steering wires at a guiding position between said guiding arrangement and a steering wire connection at said lifting device.

In preferred aspects of the invention, each of said steering wires extend from said guiding arrangement and over the first or second steering wire guide respectively, and therefrom over at least one further steering wire guide before it is connected to a steering wire connection such as a winch arrangement.

Preferably, in aspects of the invention, said steering wires/lines/ropes may be made from metal, such as steel and/or from a polymer material such as Polyethylene, e.g. Ultra-High Molecular Weight Polyethylene (UHMwPE).

In aspects of the invention said guiding arrangement may comprise one or more guiding wires extending in a longitudinal direction of a crane boom of said crane boom arrangement.

Said guiding arrangement may preferably, in aspects of the invention, comprise a single guiding wire, wherein both of said steering wires are preferably connected to said single guiding wire by means of a connection.

Such “single guiding wire” solutions may provide advantages in relation to reducing and/or avoiding undesired forces acting on the crane arrangement. The present invention may be especially advantageous in such systems having a “single guiding wire” solution, as such solutions may however cause increased challenges when controlling/keeping a desired angle between the steering wires, since the “point of connection” for the steering wires is substantially one point and not distributed between e.g. two separate guiding wires arranged with an intermediate distance.

Preferably, each of said first and second steering wire guides comprises one or more pulleys for supporting and guiding said steering wires.

In preferred aspects of the invention, said system comprises a displacement control system for controlling the displacement of one or more of the first and/or second steering wire guides relative to said frame arrangement, wherein said displacement control system comprises:one or more displacement arrangements arranged at said lifting device and configured to provide a displacement of the respective, steering wire guide relative to the frame arrangement, anda displacement arrangement controller comprising control circuitry configured to provide control signals to the displacement arrangements, preferably based on one or more input signals/control signals.

Such a displacement control system may help to provide an advantageous, active control of the for controlling the displacement of one or more of the first and second steering wire guides relative to said frame arrangement in order to keep the desired angle between the steering wires when lifting, changing position and/or orientation of components.

The displacement control system may in preferred aspects of the invention be configured to provide a displacement of said first and/or second steering wire guides in response to an adjustment of one or more of said steering wires by means of the rotation control arrangement.

The adjustment of one or more of said steering wires by means of the rotation control arrangement may in advantageous aspects of the invention be configured to be provided by winding or unwinding said steering wires by means of the rotation control arrangement.

The lifting device may in preferred aspects of the invention comprise one or more displacement arrangements configured to provide a displacement of the respective, steering wire guide relative to the frame arrangement, wherein said displacement arrangements preferably, in further aspects of the invention may comprise a threaded spindle and nut arrangement, a chain arrangement and/or a linear actuator.

This may cause advantageous control of the displacement of the respective, steering wire guide relative to the frame arrangement.

The frame arrangement may in aspects of the invention be rotatable connected to said crane connection arrangement. In other advantageous aspects of the invention, rotation in the horizontal plane be facilitated by a rotatable connection at e.g. a crane hook arrangement or the like connecting the one or more lifting lines to the crane connection arrangement, or at another part arranged between the frame arrangement and the lifting line(s), in order to e.g. avoid or reduce a twisting of the one or more lifting lines when the frame arrangement is rotated in the horizontal plane by adjusting the steering wires/lines/ropes.

This may e.g. be advantageous as it may e.g. help to provide an advantageous frame rotation range, and/or it may help to reduce a rotation/twisting of one or more lifting wires around a vertical axis when rotating the frame arrangement.

The relative displacement between one or both of the first and second steering wire guides and said frame arrangement may in advantageous aspects of the invention be configured to be provided due to and/or in repose to said rotation of the frame arrangement, thereby providing the control of the mutual angle between the steering wires when said frame arrangement is rotated in the horizontal plane.

The lifting device may in preferred aspects of the invention comprise said rotation control arrangement, and where said rotation control arrangement comprises one or more winch arrangements arranged to wind and unwind one or more of the steering wire(s)/lines.

It may be desired to arrange the rotation control arrangement at the lifting device as it may e.g. help to reduce unwanted forces acting on the crane arrangement during rotation compared to e.g. solutions where the rotation control arrangement is arranged at the bottom of the crane.

In other aspects of the invention, however, the rotation control arrangement may be arranged separate to the lifting device, preferably at the crane comprising the crane boom arrangement, such as at the lower part of the crane.

Said first and second steering wire guides may in preferred aspects of the invention be arranged spaced apart at opposite sides of said frame arrangement.

In advantageous aspects of the invention, the first steering wire guide may be arranged at a first side of a centre part of said frame arrangement, and said second steering wire guide may be arranged at second, opposite side of said centre frame part, wherein said rotation control arrangement is configured to provide a rotation of said frame arrangement so that one of said sides is moved in a direction away from the crane boom arrangement while the other of said sides is moved in a direction towards the crane boom arrangement, wherein said displacement control system is configured to provide a displacement of the steering wire guide arranged at the side moving away from the crane boom arrangement in a direction towards said centre part, and/or wherein said displacement control system is configured to provide a displacement of the steering wire guide arranged at the side moving towards the crane boom arrangement in a direction away from or towards said centre part.

Said main components may in preferred aspects of the invention comprise one or more of:wind turbine blades,wind turbine tower sections,wind turbine nacelle,wind turbine hub, and/ora generator and/or gear box for a wind turbine to be arranged in or removed from said nacelle

The invention moreover, in a second aspect, relates to a lifting device for lifting, and controlling the horizontal orientation of components, such as wind turbine main components, during installation and/or dismounting of said components, wherein the lifting device may comprise one or more of:a crane connection arrangement configured to be connected to one or more lifting lines of a crane arrangement,a frame arrangement connected to said crane connection arrangement,a first and a second steering wire guide for guiding steering wires connected to and supported by said frame arrangement, anda component connection arrangement connected to said frame arrangement and configured to be connected directly or indirectly to the component to be lifted,

wherein a relative displacement between said frame arrangement and one or both of the first and second steering wire guides is configured to be provided to control the mutual angle between the steering wires.

Generally, it is to be understood that the lifting device according to the second aspect described above and/or below may e.g. provide or help to provide e.g. the advantages described above with respect to the system.

In preferred aspects of the second aspect of the invention, said relative displacement between one or both of the first and second steering wire guides and said frame arrangement is configured to be provided when said frame arrangement is rotated in the horizontal plane by means of a rotation control arrangement provided by adjusting one or more steering wires guided by said steering wire guides and when the lifting device hangs from the one or more lifting lines.

In advantageous aspects of the second aspect of the invention, the first and second steering wire guides may be configured to be displaced along frame parts, of said frame arrangement, where said frame parts are configured to extend in a direction away from a centre part of said lifting device, preferably in a substantially horizontal direction, when the lifting device hangs from said one or more lifting lines.

In advantageous aspects of the second aspect of the invention, the lifting device comprises a rotation control arrangement configured to adjust the orientation in the horizontal plane of a component lifted by means of said lifting device. These may preferably comprise one or more winches.

In advantageous aspects of the second aspect of the invention, the lifting device comprises one or more displacement arrangements configured to provide a displacement of the respective, steering wire guide relative to the frame arrangement. Said displacement arrangements preferably comprise a threaded spindle and nut arrangement, a chain arrangement and/or a linear actuator.

Advantageously, in aspects of the second aspect of the invention, the lifting device comprises a displacement arrangement controller comprising control circuitry configured to provide control signals to the displacement arrangements, preferably based on one or more input signals.

Generally, it is to be understood that the angle a1between wires/lines to be controlled may, in aspects of the invention, be determined by e.g. a control arrangement based on the distance between the first and second steering wire guides, the orientation of the frame arrangement in the horizontal plane (due to the rotation in the horizontal plane) and/or the distance between the lifting device and the guiding arrangement or crane boom arrangement. One or more of these may be determined/represented/provided by means of a sensor arrangement providing input to the control arrangement.

In aspects of the second aspect of the invention, said frame arrangement may be rotatable connected to said crane connection arrangement. In other aspects, it may be a fixed connection, and the rotation may e.g. be facilitated by e.g. another connection between the frame arrangement and the lifting line(s).

In advantageous aspects of the second aspect of the invention, one or both of the first and second steering wire guides may be configured to be displaced relative to a centre part of said lifting device to control the mutual angle between the steering wires dependent on the rotation of said frame arrangement.

Advantageously, in aspects of the second aspect of the invention, said first and/or second steering wire guides, when guiding said steering wires may be configured to provide that the angle between the steering wires is within an angle range between 50° and 130°, preferably between 60° and 120°, such as between 75° and 105°, preferably between 85° and 95° when the frame arrangement is rotated.

This angle may in further aspects of the second aspect of the invention, be configured to be kept within said angle range within a frame rotation range of ±60° such as within a frame rotation range of ±50°, e.g. within a frame rotation range of about ±40°.

Advantageously, in preferred aspects of the second aspect of the invention, the angle between the steering wires is configured to be controlled by adjusting the mutual distance between the first and second steering wire guides.

Advantageously, in aspects of the second aspect of the invention, one or both of the first and second steering wire guides may be configured to be displaced towards and/or away from a centre part of said lifting device so as to control said mutual angle, preferably based on control signals from a displacement control system.

The lifting device may, in aspects of the second aspect of the invention, comprises further steering wire guides, such as pulleys, for guiding said steering wires. Said first and/or second steering wire guides may preferably be configured to be displaced relative to said at least one further steering wire guide14a,14b.

Advantageously, in aspects of the second aspect of the invention, said first and second steering wire guides may be configured to provide guiding points for said steering wires at a guiding position between said guiding arrangement and a steering wire connection at said lifting device.

Preferably, in aspects of the second aspect of the invention, each of said first and second steering wire guides may comprise pulleys for supporting and guiding said steering wires.

In aspects of the second aspect of the invention, said lifting device may comprise a displacement control system for controlling the displacement of one or more of the first steering wire guides relative to said frame arrangement. This displacement control system may preferably at least comprise:one or more displacement arrangements arranged at said lifting device and configured to provide a displacement of the respective, steering wire guide relative to the frame arrangement, and preferablya displacement arrangement controller comprising control circuitry configured to provide control signals to the displacement arrangements, preferably based on one or more input signals.

Advantageously, in aspects of the second aspect of the invention, said displacement control system may be configured to provide a displacement of said first and/or second steering wire guides in response to an adjustment of one or more of said steering wires by means of the rotation control arrangement.

The relative displacement between one or both of the first and second steering wire guides and said frame arrangement may in advantageous aspects be configured to be provided by or in response to winding or unwinding said steering wires by means of said rotation control arrangement.

Advantageously, in aspects of the second aspect of the invention, said lifting device comprises one or more displacement arrangements configured to provide a displacement of the respective, steering wire guide relative to the frame arrangement, wherein said displacement arrangements preferably comprises a threaded spindle and nut arrangement, a chain arrangement and/or a linear actuator.

Advantageously, in aspects of the second aspect of the invention, said device may comprise said rotation control arrangement, and said rotation control arrangement may comprise one or more winch arrangements arranged to wind and unwind one or more of the steering wire(s).

Advantageously, in aspects of the second aspect of the invention, said first steering wire guide may be arranged at a first side of a centre part of said frame arrangement, and said second steering wire guide may be arranged at second, opposite side of said centre frame part. The rotation control arrangement may be configured to provide a rotation of said frame arrangement around a substantially vertical axis when the lifting device hangs from said one or more lifting lines, so that one of said sides is moved in a direction away from the crane boom arrangement while the other of said sides is moved in a direction towards the crane boom arrangement. A displacement control system may thus be configured to provide a displacement of the steering wire guide arranged at the side moving away from the crane boom arrangement in a direction towards said centre part, and/or the displacement control system may be configured to provide a displacement of the steering wire guide arranged at the side moving towards the crane boom arrangement in a direction away from or towards said centre part.

In preferred aspects of the second aspect of the invention The lifting device according to one or more of the aspects according to the second aspect of the invention, such as according to any of claims25-46, may be for utilization in a system according to any of claims1-24.

The invention further relates, in a third aspect, to a method of lifting and controlling the horizontal orientation and/or position of components, such as wind turbine main components, during installation and/or dismounting of said components. This may be provided by a a lifting device, wherein the lifting device comprising one or more of:a crane connection arrangement to be connected to one or more lifting lines of a crane arrangement,a frame arrangement connected to said crane connection arrangement,a first and a second steering wire guide for guiding steering wires connected to and supported by said frame arrangement, anda component connection arrangement connected to said frame arrangement and configured to be connected directly or indirectly to the component to be lifted.

In accordance with the third aspect, a guiding arrangement may be connected to a crane boom arrangement of the crane arrangement, and said steering wires are connected to said guiding arrangement and extend from the guiding arrangement in a direction towards the lifting device with a mutual angle between the steering wires, and so that the steering wires are guided by said first and second steering wire guides. The method may comprise the steps of:connecting one or more lifting lines to the crane connection arrangement so that the lifting device hangs from the one or more lifting lines,connecting a component to be lifted to said component connection arrangement,hoisting and/or lowering said component by operating said one or more lifting lines, and/or rotating the frame arrangement in a horizontal plane by means of said one or more steering wires guided by the steering wire guides,

wherein a relative displacement between said frame arrangement and one or both of the first and second steering wire guides is provided due to and/or in repose to a rotation of the frame arrangement by a rotation control arrangement, and/or wherein a relative displacement between one or both of the first and second steering wire guides and said frame arrangement is provided in response to a change in distance between the lifting device and the guiding arrangement.

This may e.g. provide the advantages as described above in relation to the first and/or second aspects. Generally, it is to be understood that the lifting device may e.g. provide or help to provide e.g. the advantages described above with respect to the system and/or lifting device.

In preferred aspects of the method, the lifting device comprises one or more displacement arrangements providing a displacement of the respective, steering wire guide relative to the frame arrangement, wherein said displacement arrangements preferably comprises a threaded spindle and nut arrangement, a chain arrangement and/or a linear actuator.

In preferred aspects of the method, a displacement arrangement controller, e.g. arranged at the lifting device, comprises control circuitry providing control signals to the displacement arrangements, preferably based on one or more input signals.

In preferred aspects of the method, said main components comprises one or more of:wind turbine blades,wind turbine tower sections,wind turbine nacelle,wind turbine hub, and/ora generator and/or gear box for a wind turbine to be arranged in or removed from said nacelle

In preferred aspects of the method, said first steering wire guide is arranged at a first side of a centre part of said frame arrangement, and said second steering wire guide is arranged at second, opposite side of said centre frame part,

wherein said rotation control arrangement provides a rotation of said frame arrangement in the horizontal plane, e.g. around a substantially vertical axis, when the lifting device hangs from said one or more lifting lines, so that one of said sides is moved in a direction away from the crane boom arrangement while the other of said sides is moved in a direction towards the crane boom arrangement,

wherein a displacement of the steering wire guide arranged at the side moving away from the crane boom arrangement is provided in a direction towards said centre part, and/or wherein said displacement control system provides a displacement of the steering wire guide arranged at the side moving towards the crane boom arrangement in a direction away from or towards said centre part.

In preferred aspects of the method, the mutual distance between the first and second steering wire guides is:increased in response to an increase in the distance between the crane boom arrangement and/or guiding arrangement, and the lifting device,reduced in response to a decrease in the distance between the crane boom arrangement and/or guiding arrangement and the lifting device, and/oradjusted in response to a rotation of the frame arrangement.

In preferred aspects of the method, said method is provided by means of a system according to any of claims1-24and/or a lifting device according to any of claims25-47.

