DK180748B1

DK180748B1 - A method for controlling the orientation of a load, a winch system and use thereof

Info

Publication number: DK180748B1
Application number: DKPA202070489A
Authority: DK
Inventors: Jung Poulsen Jess; Harkes Henrik; Brunbjerg Mikkelsen Anders; Bach Hartvigsen Søren
Original assignee: Harco Heavy Lifting As
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2022-02-10
Also published as: DK202070489A1

Abstract

Disclosed is a method for controlling the orientation of a load (1) around a hoist line (2) of a crane (10), wherein the load (1) is suspended in a suspension area (3) of the load (1) by means of the hoist line (2). The method comprising the steps of: - connecting a first winch tagline (4) of a first winch (5) to the load (1) on a first side of the suspension area (3), - connecting a second winch tagline (6) of a second winch (7) to the load (1) on a second side of the suspension area (3), wherein the first side and the second side are opposite sides of the load (1) in relation to the suspension area (3), - tighten the first winch tagline (4) by means of the first winch (5) until a first winch torque setpoint of the first winch (5) has been reached, - tighten the second winch tagline (6) by means of the second winch (7) until a second winch torque setpoint of the second winch (7) has been reached, wherein the first winch torque setpoint is equal to the second winch torque setpoint, - optionally manually increasing or decreasing one of the first winch torque setpoint and the second winch torque setpoint to rotate the load (1) around the hoist line (2) and return to the equal first winch torque setpoint and second winch torque setpoint once a new orientation of the load (1) has been reached, - tracking the orientation of the load (1) by means of first winch position detection means (8) of the first winch (5) and second winch position detection means (9) of the second winch (7) and define a synchronized position setpoint, and - controlling the first winch torque setpoint and the second winch torque setpoint dynamically in relation to the synchronized position setpoint while lifting the load (1) by means of the crane (10). A winch system (17) and use thereof is also disclosed.

Description

DK 180748 B1 1 A METHOD FOR CONTROLLING THE ORIENTATION OF A LOAD, A WINCH SYSTEM AND

USE THEREOF Field of the invention The invention relates to a method for controlling the orientation of a load around a hoist line of a crane, wherein the load is suspended in a suspension area of the load by means of the hoist line. The invention also relates to a winch system for controlling the orientation of a load around a hoist line of a crane and use of a winch system.

Background of the invention When wind turbines or oil rigs are erected or elements have to be replaced, when building or other large constructions are made or in other cases where large heavy objects have to be moved vertically, large mobile cranes mounted on ships or — vehicles are typically used. However, one thing is to lift such a large and heavy load another thing is to control the orientation of the load in the air when it is lifted by the crane. Thus, from the European Patent EP 2 526 042 BI it is known to control the orientation of a load during lifting by means of a master winch and a slave winch placed at the ground where the tagline of a master winch is connected to one end of the load and a tagline of the slave winch is connected to the other end of the load. The master winch is then set to maintain a preset tension in the tagline and the slave winch is set to follow the master winch. However, such a system is complex to — design and operate. An object of the invention is therefore to provide for an advantageous technique for controlling the orientation of a load around a hoist line of a crane during lifting.

DK 180748 B1 2 The invention The invention provides for a method for controlling the orientation of a load around a hoist line of a crane, wherein the load is suspended in a suspension area of the load by means of the hoist line. The method comprising the steps of: e connecting a first winch tagline of a first winch to the load on a first side of the suspension area, e connecting a second winch tagline of a second winch to the load on a second side of the suspension area, wherein the first side and the second side are opposite sides of the load in relation to the suspension area, e tighten the first winch tagline by means of the first winch until a first winch torque setpoint of the first winch has been reached, e tighten the second winch tagline by means of the second winch until a second winch torque setpoint of the second winch has been reached, wherein the first winch torque setpoint is equal to the second winch torque setpoint, e optionally manually increasing or decreasing one of the first winch torque setpoint and the second winch torque setpoint to rotate the load around the hoist line and return to the equal first winch torque setpoint and second winch torque setpoint once a new orientation of the load has been reached, e tracking the orientation of the load by means of first winch position detection means of the first winch and second winch position detection means of the second winch and define a synchronized position setpoint, and e controlling the first winch torque setpoint and the second winch torque setpoint dynamically in relation to the synchronized position setpoint while lifting the load by means of the crane.

Defining a first winch torque setpoint and a second winch torque setpoint is advantageous in that the first winch and the second winch will then automatically unwind tagline when the load is lifted by the crane while maintaining the orientation of the load. And defining a synchronized position setpoint by means of input from the

DK 180748 B1 3 first winch position detection means and the second winch position detection means when a desired orientation of the load has been reached is advantageous in that when the load is lifted, common control means — i.e. a control unit or a controller - only have to monitor that the first winch and the second winch unwind the same amount — i.e. length - of winch tagline to ensure that the orientation of the load is maintained during lifting.

And this can be done simply by the common control means controlling the first winch torque setpoint and the second winch torque setpoint dynamically in response to deviations from the synchronized position setpoint.

In this way the winches and their drives can be fully identical which ensures simple programming and operation of — the system.

It should be noted that in this context the term “/ine” used in “hoist line” and “tagline” is to be interpreted in the broadest sense of the word.

Thus, in this context the term line includes any kind of wire, cable, chain, rope, cord or other or any combination thereof — suitable for lifting a heavy load or controlling the orientation of said load.

It should also be noted that in this context the term “winch” includes any kind of various machines or instruments for hauling or pulling comprising a spool or drum on which a wire or the like may be wound or unwound by means of a drive rotating the spool.

Said rotation may be powered by electric, hydraulic, pneumatic or internal combustion drives or other or any combination thereof.

It should also be noted that in this context the term “suspension area” should be understood as the area at which the hoist line is connected to the load.

If a single hoist line is connected to the load the suspension area is a suspension point but if the hoist line is connected to the load is two or more lifting points, they together form the suspension area.

It should also be noted that in this context the term “winch position detection means” — should be understood any kind of winch position detector capable of detecting the

DK 180748 B1 4 winding and unwinding of winch tagline of said winch — i.e. detecting both direction and rotation angle. L.e. the term includes any kind of encoder, potentiometer, tacho or other tracking the rotational position of the winch spool or any other kind of sensor separate from or build into the spool or the spool drive.

In an aspect of the invention, the method further comprises the step of attaching a lifting frame to the load and connecting the hoist line, the first winch tagline and the second winch tagline to the lifting frame.

Connecting a lifting frame to the load and then guiding and lifting the load through the lifting frame is advantageous in that a more secure connection to the load can be made — particularly when the load has an odd shape or size and in that secure and standardized attachment points can be made on the lifting frame for hoisting and guiding taglines ensuring simple connection and a fixed distance between the attachment points. In an aspect of the invention, a new synchronized position setpoint is defined after each time the load is rotated to a new orientation by optionally manually increasing or decreasing one of the first winch torque setpoint and the second winch torque setpoint.

Defining a new synchronized position setpoint after each time the load has been moved to a new orientation is advantageous in that the new position hereby is maintain in a simple manner.

— In an aspect of the invention, a new synchronized position setpoint is set automatically after when one of the first winch torque setpoint and the second winch torque setpoint is not increased or decreased manually to rotate the load around the hoist line.

DK 180748 B1

Defining a new synchronized position setpoint automatically as soon as the load has been moved to a new orientation is advantageous in that the new position hereby is securely maintain in a simple manner. 5 In an aspect of the invention, the first winch torque setpoint and the second winch torque setpoint are initially set manually.

It is advantageous to initially set the winch torque setpoints manually in that size of the initial setpoints depends on many intertwined factors — such as weather, temperature, wind, crane type, the size, weight, and shape of the load and other — and it is therefore advantageous if the initial setpoints are defined manually based on these many factors.

In an aspect of the invention, the method comprises the step of mounting the first winch and the second winch on a base of a crane arm of the crane, wherein the base follows the horizontal orientation of the crane arm.

Mounting the winches on the base of the crane is advantageous in that when the crane rotates around a vertical axis to better position the load, the winches will rotate with — the crane without the winches or taglines being affected.

This ensures a much simpler control of the orientation of the load.

In an aspect of the invention, the method comprises the step of arranging one or more sheave trollies to travel along a crane arm of the crane, wherein the sheave trollies are arranged to travel vertically substantially synchronously with the load, wherein the first winch tagline is guided from the first winch around a first winch sheave of the one or more sheave trollies before it is connected to the load and wherein the second winch tagline is guided from the second winch around a second winch sheave of the one or more sheave trollies before it is connected to the load.

DK 180748 B1 6 Connecting the taglines to the load through a sheave trolly arranged to travel vertically substantially synchronously with the load is advantageous in that this enables the taglines to affect the load perpendicular to the lifting direction. Thus, in this way the hoist line will not have to overcome parts of the pre-set torque of the winches — which particularly would be a problem during high lifts where the angle between horizontal and taglines connected directly to the load would be rather steep. Furthermore, the use of sheave trollies ensures a more precise and simple control of the orientation of the load by the winches.

— It should be noted that the term "connected to the load” does not only mean that the end of the tagline is fixed to the load. The term also includes that the tagline is e.g. passed through a sheave connected to the load and then passed further on — e.g. to be connected to the crane, the ground, another winch or other.

In an aspect of the invention, the method comprises the step of controlling the speed of the first winch so that the speed will decrease the closer the actual torque of the first winch is to the first winch torque setpoint and vice versa and controlling the speed of the second winch so that the speed will decrease the closer the actual torque of the second winch is to the second winch torque setpoint and vice versa.

Controlling the speed of the winches so that the winding and unwinding speed will decrease the closer the actual torque of a winch is to the specific winch torque setpoint and increasing it the further the actual torque of the winch is from the specific winch torque setpoint is advantageous in that this will provide for a more agile winch operation that ensures fast correcting if the actual measured torque deviates from the winch torque setpoint while at the same time ensuring smooth operation where the risk of overshooting, self-oscillation and hard stops are reduced.

In an aspect of the invention, the suspension area is at the centre of gravity of the load.

DK 180748 B1 7 Locating the suspension area at the centre of gravity of the load is advantageous in that this will ensure that the load is maintained level during lifting and in that it protects the winches and the crane from being strained crookedly.

The invention further provides for a winch system for controlling the orientation of a load around a hoist line of a crane, wherein the load is suspended in a suspension area of the load by means of the hoist line. The winch system comprises a first winch tagline of a first winch, wherein the first winch tagline is connected to the load on a first side of the suspension area and a second winch tagline of a second winch, wherein the — second winch tagline is connected to the load on a second side of the suspension area, wherein the first side and the second side are opposite sides of the load in relation to the suspension area. The winch system also comprises first winch torque detection means arranged to detect the torque of the first winch and second winch torque detection means arranged to detect the torque of the second winch. The winch system — further comprises control means arranged to tighten the first winch tagline by means of the first winch until the first winch torque detection means detect that a first winch torque setpoint of the first winch has been reached and tighten the second winch tagline by means of the second winch until the second winch torque detection means detect that a second winch torque setpoint of the second winch has been reached, wherein the first winch torque setpoint is set to be equal to the second winch torque setpoint. The winch system also comprises an interface by means of which one of the first winch torque setpoint and the second winch torque setpoint can be increased or decreased to rotate the load around the hoist line, wherein the control means are also arranged to return to the equal first winch torque setpoint and second winch torque setpoint once a new orientation of the load has been reached. Furthermore, the winch system comprises first winch position detection means of the first winch and second winch position detection means of the second winch arranged to track the orientation of the load and wherein the control means are also arranged to define a synchronized position setpoint when a new orientation of the load has been reached by means of the interface, and wherein the control means are also arranged to control the first winch torque

DK 180748 B1 8 setpoint and the second winch torque setpoint dynamically in relation to the synchronized position setpoint. Providing the winch system with winch torque detection means arranged to detect the torques of each of the winches is advantageous in that this enables that the control means may set the torque equal to maintain the load in a fixed orientation and if the load deviates from this orientation — which is detected by the winch position detection means if a deviation from the synchronized position setpoint is detected by the control means — the control means may dynamically adjust the winch torque setpoints to the new situation to bring the load back to the correct orientation at the synchronized position setpoint. In this way the overall control in performed by the common control means and the winches can be identical which ensures a simpler system and much simpler control when the load is lifted by means of the crane.

— It should be noted that in this context the term “winch torque detection means” should be understood any kind of winch torque detector capable of detecting the dynamic and/or static torque of the winches. Le. the term includes any kind of magnetoelastic torque sensors, torque transducer, or torque meter or other or any kind of torque detectors comprising strain gauges, surface acoustic wave (SAW) devices, angular position sensors measuring twist angle, slip rings, wireless telemetry, or rotary transformers or other or any combination thereof for measuring torque.

It should also be noted that in this context the term “interface” should be understood any kind of input device by means of which one or both winch torque setpoints can be adjusted manually to change the orientation of the load — i.e. any kind of input display, joystick, buttons or other or any combination thereof.

Furthermore, it should be noted that in this context the term “control means” should be understood any kind of controller capable of controlling the operation of the winches, define a synchronized position setpoint, control the winch torque setpoints t

DK 180748 B1 9 dynamically in relation to the synchronized position setpoint and in general control operation of the winch system. Le. the term includes any kind of programmable logic controller (PLC), computer, logical circuit, processor or other or any combination thereof.

In an aspect of the invention, the winch system further comprises one or more sheave trollies arranged to travel along a crane arm of the crane by means of one or more sheave trolly drive arrangements so that the one or more sheave trollies travel vertically substantially synchronously with the load when the load is lifted by the crane, wherein the first winch tagline runs from the first winch around a first winch sheave of the one or more sheave trollies to the load and wherein the second winch tagline runs from the second winch around a second winch sheave of the one or more sheave trollies to the load.

Connecting the taglines to the load through a sheave trolly arranged to travel vertically substantially synchronously with the load is advantageous in that this enables the taglines to affect the load perpendicular to the lifting direction. Thus, in this way the hoist line will not have to overcome parts of the pre-set torque of the winches — which particularly would be a problem during high lifts where the angle between horizontal — and taglines connected directly to the load would be rather steep. Furthermore, the use of sheave trollies ensures a more precise and simple control of the orientation of the load by the winches.

In an aspect of the invention, the first winch and the second winch are mounted on a base of a crane arm of the crane and wherein the base is arranged to follow the horizontal orientation of the crane arm.

Mounting the winches on the base of the crane is advantageous in that when the crane rotates around a vertical axis to better position the load, the winches will rotate with

DK 180748 B1 10 the crane without the winches or taglines being affected.

This ensures a much simpler control of the orientation of the load.

In an aspect of the invention, the winch system further comprises a lifting frame connected to the load and wherein the hoist line, the first winch tagline and the second winch tagline are connected to the lifting frame.

Connecting a lifting frame to the load and then guiding and lifting the load through the lifting frame is advantageous in that a more secure connection to the load can be made — particularly when the load has an odd shape or size and in that secure attachment points can be made on the lifting frame for hoisting and guiding taglines ensuring a fixed distance between the attachment points.

In an aspect of the invention, the winch system is arranged to perform the method according to any of the previously discussed methods.

Hereby is achieved an advantageous embodiment of the invention.

The invention also provides for use of a winch system according to any of the — previously discussed winch systems for lifting a load weighing above one ton offshore.

Lifting big objects weighing over a ton offshore is particularly difficult because of the weather and because the crane is positioned on a ship that will follow the movements of the sea.

Thus, using a winch system according to the present invention for lifting a load weighing above one ton offshore is particularly advantageous.

Figures An embodiment of the invention will be described, by way of non-limiting example, in the following with reference to the figures in which:

DK 180748 B1 11 fig. 1 illustrates a schematic layout of a winch system, fig. 2 illustrates crane ship with a winch system, as seen from the side, fig. 3 illustrates a winch system on a crane with a load in a first orientation, as seen from the top, fig. 4 illustrates a winch system on a crane with a load in a second orientation, as seen from the top, fig. 5 illustrates crane ship with a winch system comprising sheave trollies, as seen from the side, and fig. 6 illustrates a winch system on a crane comprising sheave trollies, as seen from the top. Detailed description Fig. 1 illustrates a schematic layout of a winch system 17.

While the lifting is powered and generated by a crane 10, the winch system 17 will in this embodiment operate as an auxiliary application. The winch system 17 is in this embodiment 100% independent from the crane 10, and operates automatically when the lifting operation is initiated. However, in another embodiment the winch system 17 could be more integrated with the crane or e.g. fully integrated with the crane 10. In this embodiment the winch system 17 comprises a first which 5 and a second winch 7 but in another embodiment the system 17 could further comprise a third winch, a fourth winch or even more winches.

DK 180748 B1 12 As the first winch 5 and the second winch 7 in this embodiment are identical the following description of the first which 5 applies mutatis mutandis for the second winch 7. However, in another embodiment the first winch 5 and the second winch 7 may be different e.g. due to new components, a specific task requiring asymmetry, — repair or other.

In this embodiment the first which 5 comprises a spool 23 around which a first winch tagline 4 is wound. In use the free end of the first winch tagline 4 will be connected to the load 1 as will be discussed later. In this embodiment the rotation of the spool 23 is driven by a winch drive 24 which in this case is an electrical servo motor. A servomotor is a closed-loop servomechanism that uses position feedback to control its motion and final position. However, in another embodiment the winch drive 24 could be a conventional electrical motor, a hydraulic motor or other. In this embodiment the winch drive 24 is controlled by a winch controller 25 which in turn receives input from control means 20 which in the case is a common PLC arranged to control both winches 5, 7. The winch controller 25 is in this embodiment a variable speed drive arranged in close loop setup to speed regulation in relation to a toque limitation. Torque Limitation is a function in the winch controller 25 and can be expressed as speed regulation as a function of measured torque with a torque limit — value as setpoint — i.e. the first winch torque setpoint. In this embodiment the winch drive 24 comprises first winch torque detection means 18 in the form of a torque transducer arranged to detect the torque of the first winch 5 (and the second winch 7 comprises second winch torque detection means 19 arranged to detect the torque of the second winch 7). In this embodiment the actual torqued measured by the first — winch torque detection means 18 is communicated to the winch drive 24 where it is compared to the first winch torque setpoint and the operation of the winch drive 24 is adjusted accordingly by the winch controller 25. However, in another embodiment the winch controller 25 could comprise the first winch torque detection means 18 e.g. if the actual torque were detected on the basis of amperage or voltage monitoring of — the winch drive 24.

DK 180748 B1 13 When the winch drive 24 is pulling a load, the speed will decrease when the torque increase and vice versa. Le. the speed will be close to zero when the first winch torque setpoint is reached. If the toque continues to increase at stand still, the rotational motor direction of the winch drive 24 is changed and the speed increases until torque is stable at the first winch torque setpoint. The winch controllers 25 of the first winch 5 and the second winch 7 operate independently of each other, controlled by the control means 20. In this embodiment the control means 20 sends both speed reference and winch torque setpoint to both winch controllers 25 but in another embodiment only winch torque setpoints would be send to the winch controllers 25. Initially the winch torque setpoint is provided to the control means 20 by means of an interface 21. The control means 20 then divides evenly the winch torque setpoint and sends it to the winch controllers 25. If the winch torque setpoint provided by the interface 21 is 100% then each winch controllers 25 get 50% from the control means

20. When needed torque can be divided unevenly to the winch controllers 25 by the control means 20.

In this embodiment the winch drive 24 of the first winch 5 is equipped with first winch position detection means 8 which in this case is a rotary encoder set up for close loop operation with the winch controller 25. The winch controller 25 counts the encoder pulses which is provided to the control means 20 and converted to position. — When the winch torque setpoint has been initially provided, the control means 20 retains the position values to establish a synchronized position setpoint. The synchronized position setpoint could be set automatically as soon as a new orientation has been reached, when a command to establish a synchronized position setpoint is sent from the interface 21 or other. The control means 20 then keeps track of any position difference of the two winch position detection means 8, 9. Winch

DK 180748 B1 14 torque setpoints send to the winch controllers 25 are a function of the position difference.

If the initial winch torque setpoint is 100% and position difference is zero, then both winch controllers 25 will have a torque reference of 50%. If then a position difference in relation to the synchronized position setpoint is detected by the — control means 20, by means of the winch position detection means 8, 9, the control means 20 will calculated how the torque limits should be divided and new winch torque setpoint are dynamically provided to the first winch 5 and the second winch 7 as a function of the position difference.

Thus, in an embodiment the winch system 17 operates in the following way: First the first winch tagline 4 of the first winch 5 and the second winch tagline 6 of a second winch 7 are connected to the load 1 on opposite sides horizontally of the suspension area 3 — i.e. the area or point at which the hoist line 2 of the crane 10 is connected to the load 1. This can e.g. be done by manually sending a command to a winch 5, 7 to make it rotate in a desired direction to unwind the tagline 4, 6 so that it can reach the load 1. After connecting the taglines 4, 6 they may e.g. be tightened by manually operating the winches 5, 7 to ensure some orientational hold on the load 1 when it is initially lifted.

Typically, the crane 10 will now lift the load of the ground or whatever it is resting on.

However, the initial lift can in some embodiments take — place after the tightening the taglines 4, 6 to the initial winch torque setpoints exclaimed in the following or the taglines 4, 6 are not connected to the load 1 until after the load is lifted initially by the crane 10. An operator will then provide an initial first winch torque setpoint and a second winch torque setpoint to the control means 20 by means of an interface 21. Since the initial first and second winch torque setpoints are the same — i.e. equal to each other — the setpoints may be provided as a single input.

The first and the second winch 5, 7 will then start winding the first winch tagline 4 and the second winch tagline 6 respectively to tighten the winch taglines 4, 6 until the initial equal winch torque setpoints have been reached.

Once the initial equal winch torque setpoints have been reached the

DK 180748 B1 15 winches 5, 7 will stop winding and the load is maintained in this initial orientation.

The control means 20 will detect the orientation of the load 1 by means of the first winch position detection means 8 and the second winch position detection means 9 and define a synchronized position setpoint.

When the load 1 is lifted by the crane 10 both winches 5, 7 will monitor the actual torque by means of the first winch torque detection means 18 and the second winch torque detection means 19 respectively and unwind to maintain their winch torque setpoints.

But the load 1 is constantly affected by asymmetrical load such as wind, waves, collision and other which may force the load 1 out of the initial orientation and the control means 20 will detect - by means of the first winch position detection means 8 and/or the second winch position detection means 9 - that the actual orientation deviates from the synchronized position setpoint —1.e. one which 5, 7 has unwound more than the other in relation to the synchronized position setpoint.

Depending on the deviation the control means 20 will then increase or decrease the first winch torque setpoint and/or the second winch torque setpoint automatically to bring the load 1 back to the set orientation.

However, this initial orientation may not be correct and the operator may therefore at any time before, during or after the lift manually increase or decrease one of the first winch torque setpoint and the second winch torque setpoint to rotate the load 1 around — the hoist line 2 until a new orientation is reached.

This manual adjustment of the orientation is done by means of the interface 21 e.g. comprising a joystick for this purpose.

Once the manual orientation adjustment is stopped the control means 20 will detect the new orientation of the load 1 by means of the first winch position detection means 8 and the second winch position detection means 9 and define a new synchronized position setpoint.

The initial equal first winch torque setpoint and second winch torque setpoint are maintained by the winches 5, 7 or the control means 20 will send a first winch torque setpoint equal to a second winch torque setpoint to the first winch 5 and the second winch 7 so that the load 1 is maintained in the new orientation — obviously unless the load 1 is asymmetrically strained in this new orientation - which — will drive the load 1 away from the new orientation - in which case the control means

DK 180748 B1 16 20 will detect a deviation from the newly synchronized position setpoint and dynamically adjust the winch torque setpoints. Fig. 2 illustrates crane ship 26 with a winch system 17, as seen from the side.

In this embodiment the crane 10 is mounted on a crane ship 26 to lift a big and heavy load 1 offshore but in another embodiment the winch system 17 of the present invention may be used onshore e.g. in relation to a mobile crane, a construction crane or other.

In this embodiment the load 1 is a wind turbine blade weighing around 5 ton but in another embodiment the load 1 could be a wind turbine hub, a wind turbine nacelle or any other kind of wind turbine component, it could be components for or of an oil rig or it could be any other kind of big and heavy component that needed to be lifted onshore or offshore. In this embodiment the winch system 17 also comprises a lifting frame 11 which is initially connected to the load 1 before it is lifted. The lifting frame 11 may also be seen on the following figures.

Once the lifting frame 11 is securely connected to the load 1 the hoist line 2 is connected to the lifting frame 11 and the first and second winch taglines 4, 6 are connected to the lifting frame 11 at opposite ends of the lifting frame 11.

In this embodiment the first winch 5 and the second winch 7 are aligned so that only the first winch 5 is visible in the figure, but as can be seen in the following figures the second winch 7 is present behind the first winch 5. In this embodiment the first winch 5 and the second winch 7 are rigidly connected to the base 12 of the crane 10 — i.e. the base 12 on which the crane arm 13 of the crane

DK 180748 B1 17 10 is connected — so that if the orientation of the crane 10 is changed by rotating the base 12 the first winch 5 and the second winch 7 will follow the crane arms 13 orientation.

However, in another embodiment the first winch 5 and the second winch 7 could be connected to the ship 26, to the crane arm 13, to the lifting frame 11 or other or if the winch system 17 was used onshore the first winch 5 and the second winch 7 could be connected to the ground or other.

In this embodiment the crane arm 13 is illustrated as a simple bar but in a preferred embodiment the crane arm 13 is arranged telescopically so that the length of the

— crane arm 13 may be adjusted.

In another embodiment the crane 10 could also or instead be of a more complex construction — e.g. comprising pivotal joints, more arms 13 or other.

Fig. 3 illustrates a winch system 17 on a crane 10 with a load 1 in a first orientation,

as seen from the top and fig. 4 illustrates a winch system 17 on a crane 10 with a load 1 in a second orientation, as seen from the top.

In fig. 3 the load 1 has been lifted of its rest by the crane 10 and the first and second winches 5, 7 have tightened the first winch tagline 4 and the second winch tagline 6 respectfully until the first winch torque setpoint and the second winch torque setpoint — which at this point are equal — has been reached and a synchronized position setpoint has been defined.

And the automatic and dynamic orientation control will be taken over by the control means (not shown) to ensure that the load 1 is maintained in this orientation.

However, this initial orientation is not correct in relation to the

— desired orientation of the load 1 and the operator will therefore manually change the orientation of the load 1 into the orientation disclosed in fig. 4 by means of an interface (not shown) — i.e. in this case by manipulating a joystick until the desired orientation has been reached.

Once the desired orientation has been reached the first winch torque setpoint and the second winch torque setpoint will return to being equal and a new synchronized position setpoint will be defined.

The automatic and

DK 180748 B1 18 dynamic orientation control is again overtaken by the control means (not shown) to ensure that the load 1 is maintained in this new orientation. Fig. 5 illustrates crane ship 26 with a winch system 17 comprising sheave trollies 14, as seen from the side and fig. 6 illustrates a winch system 17 on a crane 10 comprising sheave trollies 14, as seen from the top. To ensure a more efficient control of the orientation of the load 1, to ensure a more simple control of the load 1 and for other reasons it can be advantageous for the taglines 4, 6 to attack to load substantially perpendicular to the hoist line 2. This can be done by means of a sheave trolly drive arrangement 22 e.g. by arranging a sheave trolly 14 to travel vertically along with the load 1 — e.g. by making the sheave trolly drive arrangement 22 comprise a separate motor driving the sheave trolly 14 along a guide track on the crane arm 13 or along a dedicated guide pillar - and then guide the taglines 4, 6 around winch sheaves 15, 16 of this sheave trolly 14 before they are attached to the load 1 - or by making the winches 5, 7 travel vertically with the load

1. However, the winches 5, 7 are heavy and requires electrical connection etc. so it is advantageous to fix the winches 5, 7 at “ground level” also to ensure easy access during maintenance and repair. Thus, in this embodiment the sheave trolly drive — arrangement 22 comprises a track wire 27 which is first connected to a fixation point 28 at the top of one side of the crane arm 13 and another track wire 27 is connected to a fixation point 28 at the top of the other side of the crane arm 13. The track wires 27 are each guided past a track sheave 29 connected to the crane arm 13 near the base 12 of the crane arm 13 and they extend down to each their dedicated track winch 30 located besides the first and second winch 5, 7 at the base 12 of the crane

10. The track winches 30 ensures constant tension in the track wires 27 even if the crane arm 13 is telescopic or other and changes length during the lift. In this case track wires 27 are arranged on opposite sides of the crane arm 13 and the track wires 27 are tightened by two separate track winches 30. However, in another embodiment — the winch system 17 could comprises only a single track wire 27 connected to a

DK 180748 B1 19 single track winch 30 or it could comprise two track wires 27 connected to a single track winch 30. A sheave trolly 14 is in this embodiment arranged to run freely on each track wire

27. The first winch tagline 4 is then guided from the first winch 5 past a bottom tagline sheave 31 connected to the crane arm 13 near the base 12 of the crane arm 13 and further up past a first winch sheave 15 of the sheave trolly 14. From the sheave trolly 14 the first winch tagline 4 is guided out to the load 1 where it in another embodiment it could be connected if the sheave trolly drive arrangement 22 did comprise some sort of separate drive for the sheave trolly 14 ensuring that it did travel vertically along with the load 1. However, in this embodiment the tagline 4 is guided through a load sheave 32 connected to the load 1 and back through a return sheave 33 of the sheave trolly 13 and further up to the top of the crane arm 13 at which the tagline 4 is connected to the crane arm 13 at the fixation point 28. Thus, — when the first winch tagline 4 is tightened, the tagline 4 itself in connection with the sheave trolly drive arrangement 22 comprising the sheaves 15, 31, 32, 33 will ensure that the sheave trolly 14 constantly will follow the vertical motion of the load I and thereby ensure that the tagline 4 constantly attacks the load 1 substantially perpendicular to the hoist line 2 in a simple and inexpensive manner not requiring any additional drives.

The above description of the of the sheave trolly drive arrangement 22 in relation to the first winch tagline 4 applies mutatis mutandis for the second winch tagline 6 in this embodiment but in another embodiment different sheave trolly drive arrangements 22 could be used in relation to the first or the second winch tagline 4,

6. The invention has been exemplified above with reference to specific examples of winches 5, 7, 30, position detection means 8, 9, cranes 10 and other. However, it should be understood that the invention is not limited to the particular examples described

DK 180748 B1 20 above but may be designed and altered in a multitude of varieties within the scope of the invention as specified in the claims. List

1. Load

2. Hoistline

3. Suspension area

4. — First winch tagline

5. First winch

6. Second winch tagline

7. Second winch

8. First winch position detection means

9. — Second winch position detection means

10. Crane

11. Lifting frame

12. Base of crane arm

13. Crane arm

14. Sheave trolly

15. First winch sheave

16. Second winch sheave

17. Winch system

18. First winch torque detection means

19. Second winch torque detection means

20. Control means

21. Interface

22. Sheave trolly drive arrangement

23. Spool

24. Winch drive

25. Winch controller

26. Crane ship

27. Track wire

DK 180748 B1 21

28. Fixation point

29. Track sheave

30. Track winch

31. Bottom tagline sheave

32. Load sheave

33. Return sheave

Claims

DK 180748 B1 1 Patentkrav

Method for controlling the orientation of a load (1) around a hoisting line (2) of a crane (10), said load (1) being suspended in a suspension area (3) of said load (1) by means of said hoisting line (2), wherein said method comprises - the following steps: e connecting a first game guide line (4) of a first game (5) to said load (1) on a first side of said suspension area (3), e connecting a second game guide line ( 6) of a second winch (7) for said load (1) on a second side of said suspension area (3), said first side and said second side being opposite sides of said load (1) relative to said suspension area (3) ), characterized in that said method further comprises the following steps: e tightening said first game guide line (4) by means of said first game (5) until a first game torque set point of said first game (5) has been reached, e tightening said second game guide line (6) by means of said second game (7) until a second game turn torque setpoint for said second spindle (7) has been reached, said first spindle torque setpoint being equal to said second spindle torque setpoint, e optionally manually increasing or decreasing one of said first spindle torque setpoints and said second spindle torque setpoint for rotating said load (1). around said hoisting line (2) and return to said one's first wastage torque setpoint and second wastage torque setpoint when a new orientation of said load (1) has been reached,

180748 B1 2 e trace the orientation of said load (1) by means of first game position detecting means (8) of said first game (5) and second game position detecting means (9) of said second game (7) and defining a synchronized position set point , and e regulating said first wastage torque setpoint and said second wastage torque setpoint dynamically with respect to said synchronized position setpoint, while said load (1) is lifted by means of said crane (10).

The method of claim 1, wherein said method further comprises - the step of attaching a lifting frame (11) to said load (1) and connecting said hoisting line (2), said first game guide line (4) and said second game guide line (6). to said lifting frame (11).

A method according to claim 1 or 2, wherein a new synchronized position setpoint - is defined, after each time said load (1) is rotated to a new orientation, optionally manually increasing or decreasing one of said first wastage torque setpoints and said second wastage torque setpoint, and wherein said new synchronized position setpoint is set automatically after one of said first wastage torque setpoints and said second wastage torque setpoint are not manually increased or decreased, in order to rotate said load (1) about said hoisting line (2).

A method according to any one of the preceding claims, wherein said first wastage torque setpoint and said second wastage torque setpoint are initially set manually.

A method according to any one of the preceding claims, wherein said method comprises the step of mounting said first winch (5) and said second winch (7) on a base (12) of a crane arm (13) of said crane (10). ), wherein said base (12) - follows the horizontal orientation of said crane arm (13).

DK 180748 B1 3

A method according to any one of the preceding claims, wherein said method comprises the step of arranging one or more pulley carriages (14) for walking along a crane arm (13) of said crane (10), said pulley carriages (14) being arranged to travel vertically substantially synchronously with said load (1), said first game guide line (4) being guided from said first game (5) about a first game pulley (15) of said one or more pulley carriages (14) before being connected with said load (1), and wherein said second game guide line (6) is passed from said second game (7) around a second game pulley (16) by said one or more pulley carriages (14), before being connected to said load (1).

A method according to any one of the preceding claims, wherein said method comprises the step of regulating the speed of said first winch (5) so that said speed decreases the closer said actual torque (5) of said first winch (5) is to the first game torque setpoint, and vice versa, and regulating the speed of said second game (7) so that said speed decreases, the closer said actual torque (7) is to the actual torque setpoint of the second game torque set point, and vice versa.

—8.Game system (17) for controlling a load (1) orientation around a hoisting line (2) of a crane (10), said load (1) being suspended in a suspension area (3) of said load (1) at by means of said hoisting line (2), said game system (17) comprising: a first game guide line (4) of a first game (5), said first game guide line (4) being - connected to said load (1) on a first side of said suspension area (3), a second game guide line (6) of a second game (7), said second game guide line (6) being connected to said load (1) on a second side of said suspension area (3), wherein said first side and said other side are opposite sides of said load (1) relative to said suspension area (3),

180748 B1 4 first wastage moment detecting means (18) arranged to detect torque of said first spindle (5), second wastage torque detecting means (19) arranged to detect torque of said second spindle (7),

characterized in that said game system (17) further comprises control means (20) adapted to tighten said first game guide line (4) by means of said first game (5) until - said first game torque detecting means (18) detects that a first game torque setpoint of said first game (5) has been reached, and to tighten said second game control line (6) by means of said second game (7) until said second game torque detecting means (19) detects that a second game torque set point of said second game (7) has been reached, said first game torque set point being set to be equal to said second game torque set point, an interface (21) by means of which one of said first game torque set points and said second wastage torque set point may be increased or decreased in order to rotate said load (1) about said hoisting line (2), said control means (20) also being adapted to returning to said first game torque set point and second game torque set point when a new orientation of said load (1) has been reached, first game position detecting means (8) of said first game (5) and second game position detecting means (9) of said second game (7) arranged to track - the orientation of said load (1), and wherein said control means (20) is also arranged to define a synchronized position set point when a new orientation of said load (1) has been reached by by means of said interface (21), and wherein said control means (20) are also arranged to regulate said first game torque set point and said second game torque set point dynamically relative to said synchronized position set point.

DK 180748 B1

A game system (17) according to claim 8, wherein said game system (17) further comprises one or more pulley carriages (14) adapted to travel along a crane arm (13) of said crane (10) by means of one or more pulley drive arrangements (22) such that said pulley carriages (14) travel vertically synchronously with said load (1) when said load (1) is lifted by said crane (10), said first winch guide line (4) running from said first winch (5) around a first winch pulley (15) of said one or more pulley carriages (14) for said load (1), and wherein said second winch guide line (6) runs from said second winch (7) around a second winch pulley (16) ) of - said one or more pulley carriages (14) for said load (1).

Use of a winch system (17) according to claim 8 or 9 for lifting a load (1) weighing more than one ton, offshore.