EP3290384A1 - Device for lifting, lowering or holding a load - Google Patents
Device for lifting, lowering or holding a load Download PDFInfo
- Publication number
- EP3290384A1 EP3290384A1 EP17167050.8A EP17167050A EP3290384A1 EP 3290384 A1 EP3290384 A1 EP 3290384A1 EP 17167050 A EP17167050 A EP 17167050A EP 3290384 A1 EP3290384 A1 EP 3290384A1
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- European Patent Office
- Prior art keywords
- load
- active
- hydraulic cylinder
- winch
- piston
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- 238000007667 floating Methods 0.000 description 5
- 230000004913 activation Effects 0.000 description 3
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- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000009420 retrofitting Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 206010042674 Swelling Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 229920000785 ultra high molecular weight polyethylene Polymers 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
Definitions
- the invention relates to a device for lifting, lowering or holding a load according to the preamble of claim 1.
- Swell or swell compensation devices hereinafter also referred to as HCS - are used, for example, in offshore / marine technology when a load from a ship by means of a crane to an object supported on the seabed, for example, a platform to be discontinued.
- HCS Heave Compensation System
- Such a task is in the assembly of rigs or offshore wind turbines before or when a drill string is lowered from a floating platform and this is raised and lowered by the sea.
- heavy measuring devices or supply stations for robots or the like are lowered from a ship via a winch to great depths, in which case the tether, caused by the sea state, is exposed to considerable tensile loads.
- a linearly adjustable unit for example, a hydraulic cylinder or a rotationally operated unit, for example, a hydraulic motor is acted upon in the support direction via a hydropneumatic storage unit whose pressure is designed so that the load is supported without swell in a central position - the hydropneumatic storage unit acts thus as a kind of gas spring.
- Such passive units are designed to match the particular application and the associated loads, so that an adaptation to different loads is possible only with great effort.
- Such passive systems are often arranged between the actual crane hook and the load and thus are located when lowering below sea level.
- a linear drive hydraulic cylinder
- a rotary drive hydraulic motor
- a position control system by which the load is controlled by controlling the load Drive can always be kept in the predetermined position.
- Such active systems are usually placed on the ship, so they must also move the weight of the crane cable, the crane blocks (pulley) and the crane hook, so that the payload is reduced by the additional weight of these components.
- the load is compensated via a passive hydro-pneumatic storage system and, on the other hand, the setpoint position of the load is kept constant via an active control system.
- a passive hydro-pneumatic storage system has the advantage that only the compensating movement of the load must be effected via the active system while the actual support via the passive system takes place.
- Such combination systems are particularly required when lifting a load at a predetermined speed from the seabed or from an anchored on this platform or lowered to this.
- a similar system is also mentioned in the beginning US 4,121,806 explained.
- the US 4,021,019 shows a system in which an active hydraulic cylinder is integrated into a passive hydraulic cylinder.
- the lifting device when the lifting device is to be used to deposit a load from a ship on a platform supported on the seabed or another ship, care must be taken that the load is not lowered too quickly and thus damaged when placed on the platform / ship becomes. This can be done, for example, when the active compensation unit fails due to an accident.
- the invention has for its object to provide a means for lifting, lowering or holding a load, in which the reliability is increased.
- the device for lifting, lowering or holding a load has a compensating device which is designed to compensate for the relative movements of the load, in particular caused by swell, with reference to a target position.
- the load is movable by means of a lifting device in the direction of the target position or away.
- the lifting device is preferably associated with a passive compensation device.
- an active compensation unit is provided which can be controlled via a control unit as a function of a relative movement of the load or an effective force.
- the passive compensation device is designed to support the weight of the load at least 100 percent.
- the active compensation unit according to the invention is designed so that it acts opposite to the supporting direction of the load.
- the active compensation unit acts opposite to the supporting direction, that is in the lowering direction.
- a component is optionally adjusted up to a stop within the passive compensation device.
- the passive compensation device overcompensates the effective load. This can be achieved in that their bias is chosen so that the resulting from this compensation support force is greater than the load or force. In this case, the load is increased in case of failure of the active compensation unit due to the overcompensation according to the stroke of the passive compensation device.
- the structure of the device according to the invention is particularly simple if the passive compensation device has a hydraulic cylinder with a piston which limits a pressure chamber effective in the direction of support.
- This pressure chamber is in operative connection with a hydropneumatic storage unit whose pressure is preferably selected as a function of the load and which may be formed in the usual way as a hydropneumatic piston accumulator with one or more downstream gas cylinders.
- the active compensation unit has a drive, preferably an active winch or an active linear drive, whose actuator (for example a winch cable or a linear actuator) acts either on the load or on the hydraulic cylinder of the passive compensation device.
- a drive preferably an active winch or an active linear drive, whose actuator (for example a winch cable or a linear actuator) acts either on the load or on the hydraulic cylinder of the passive compensation device.
- a winch rope of the active winch is deflected by a deflection roller and then engages directly or indirectly on the hydraulic cylinder, in particular on a piston of the hydraulic cylinder of the passive compensation device or on the load.
- Such a deflection roller can be mounted on the cylinder side or on a roller block carrying the hydraulic cylinder.
- the winch cable of the active winch engages a push rod, which is slidably guided on the hydraulic cylinder or on the roller block.
- the winch cable does not attack directly on the hydraulic cylinder or on the load but is guided over the Umlenkblock to another active winds.
- a coupling rod can engage in a section of the winch cable between the deflection roller and one of the active winches on the winch cable.
- Such a coupling rod can in turn act on the load or on a piston of the hydraulic cylinder.
- the coupling rod can engage a connected to the load push rod, which is guided on the hydraulic cylinder or on the roller block.
- the deflection roller drives a pinion, which meshes with a directly or indirectly engaging the load drive element, such as a rack.
- the actuator engages an active piston of a push cylinder, wherein this active piston limits an active pressure space, which is in pressure medium connection with an effective counter to the direction of support pressure chamber of the hydraulic cylinder. That via this push cylinder, the piston of the hydraulic cylinder with a in the lowering, i. against the support direction, effective pressure applied.
- the resulting from the overcompensation or bias force corresponds to about 105% to 150%, preferably about 110% of the load or force to be moved.
- the device is designed with compensation devices for compensating for sea-induced relative movements of the load with respect to a target position.
- FIGS. 2 to 6 Variants of the embodiment according to FIG. 1 ,
- FIG. 1 shows a simplified schematic diagram of a running with an inventive device for sea state compensation (HCS) 1 ship or floating crane 2, via which a load L on another ship or on the seabed 4 or a platform anchored on this is to be discontinued.
- the device 1 motion compensation device, HCS
- a loading crane is mounted, which in a conventional manner a stationary roller or a plurality of stationary rollers 14 (discs) and a movable roller or a plurality of movable rollers (discs) 16, which together with a support cable 18 form a pulley 20.
- the movable rollers 16 loose part
- the fixed with an end on deck support cable 18 can be obtained by means of a winch 21 of the loading crane 10 or gefiert / omitted to raise the load L or lower.
- the force of the winch 21 is then translated according to the pulley 20.
- FIG. 1 is attached to the roller block 22, a passive hydraulic cylinder 24, which is designed as a synchronous cylinder.
- a piston 26 divides the hydraulic cylinder 24 into an effective pressure in the direction of support chamber 28 and a lowering in the lowering direction 30.
- the pressure chamber 28 is connected to a hydropneumatic storage unit 32, which may be formed as usual as a hydropneumatic piston accumulator with one or more downstream gas cylinders and through the pressure chamber 28 is acted upon by a biasing pressure.
- the force resulting from this bias corresponds to approximately 110% of the load L to be moved in the exemplary embodiment shown. This load L is thus overcompensated, so that the load L alone is raised by the action of the compensation device 6.
- the pressure chamber 28 and the hydro-pneumatic storage unit 32 form a kind of gas spring.
- the hydraulic cylinder 24 is designed as a synchronous cylinder.
- a load-side piston rod 34 in FIG. 1 carries the load L, which is fastened to the piston rod 34, for example via a crane hook or the like.
- the other, in figure 1 upper piston rod 36 carries at its end portion a bracket 38 to which a traction means, such as a winch cable 40 or a chain of the active compensation unit 8 attacks. Since the piston rod 36 has the same diameter as the piston rod 34, no compensation due to the increasing with the depth of the water ambient pressure is necessary.
- the winch cable 40 engages in the lowering direction on the console 38 and is deflected by means of a deflection roller 42 in the direction of an active winch 44 located on the deck of the floating crane 2 of the active compensation unit 8.
- a deflection roller 42 In the area in which the winch cable 40 is in operative engagement with the deflection roller 42, it can be designed as a chain, toothed belt or other tensile and wear-resistant traction means.
- the guide roller 42 is in the in FIG. 1 illustrated embodiment, mounted on the hydraulic cylinder 24 or on the roller block 22.
- the active wind 44 must be controlled so that the overcompensation on the passive compensation device balanced (when holding) or overdriven (when lowering) is. In the illustrated embodiment, therefore, the active compensation unit pushes the load L in the lowering direction.
- the basic structure of the passive compensation device 6 corresponds to that of the exemplary embodiment in FIG. 1 except for the design of the hydraulic cylinder 24 FIG. 1 , so that with regard to the construction of the compensation device 6 for the sake of simplicity to the corresponding embodiments in FIG. 1 reference is made and only the essential differences to the described active compensation unit 8 is discussed.
- the hydraulic cylinder 24 of the passive compensation device 6 is designed as a differential cylinder and has only the piston rod 34.
- the pressure chamber 30 may be associated with a device for compensation of the water depth.
- the pressure chamber 30 may also be connected to a pressure medium expansion tank.
- the active compensation unit 8 has as in the embodiment after FIG. 1 again a deflection roller 42, over which a winch cable 40 (or other traction means) is guided, which acts on a bracket 38.
- the console 38 is not attached to the piston 26 but to a push rod (Pushrod) 46. This push rod 46 engages parallel to the piston rod 28 on the crane hook on which the load hangs.
- the push rod 46 is guided axially displaceably in the vertical direction on a guide 48, which in turn is fixed to the hydraulic cylinder 24 or on the roller block 22.
- the push rod 46 in the illustration according to FIG. 2 actively down with a force applied.
- This force must be greater than the overcompensation via the passive compensation device 6 in order to be able to hold or lower the load L relative to the roller block 22.
- FIG. 3 acts the active compensation unit 8 hydraulically / pneumatically on the hydraulic cylinder 24 of the passive compensation device 6.
- a push cylinder 50 is provided parallel to the hydraulic cylinder 24, which is connected for example via a bridge 52 to the hydraulic cylinder 24.
- the push cylinder 50 is designed as a differential cylinder and has an active piston 54 and an active piston rod 56, which is always subjected to train and on which a winch cable 40 of the active winch 44 engages.
- the active piston 54 defines a piston rod-side active pressure chamber 58, which via a connecting line 60 or formed in the bridge 52 channel with the pressure chamber 30 of the likewise as a differential cylinder executed hydraulic cylinder 24 is connected.
- the active piston rod 56 When retrieving the winch cable 40, the active piston rod 56 is extended and pushed according to pressure medium from the active pressure chamber 58 via the connecting line 60 into the pressure chamber 30, so that the load L against its bias / overcompensation in the pressure chamber 28 to compensate for sea state or the like relative to the roller block 22nd is lowered.
- this can be associated with an unillustrated surge tank.
- FIG. 4 shows an embodiment with respect to the embodiment according to FIG. 1 something complex constructed active compensation unit 8, via which the movements of the load L relative to the roller block 22 in the raising and lowering direction are actively controlled.
- passive compensation device 6 has similar to the embodiment according to FIG. 1 an active winch 44, the winch cable 40 is first deflected over the guide roller 42, which is mounted in this embodiment on the roller block 22, on which the loose rollers 16 are arranged.
- the winch cable 40 does not end, as in the previously described embodiments, on a component located in the region of the roller block 22, but extends from the deflection roller 42 away to a further active winch 64, which, like the active winch 44, can also be activated via the control unit (not shown) to overtake or fire the winch cable 40.
- a further active winch 64 which, like the active winch 44, can also be activated via the control unit (not shown) to overtake or fire the winch cable 40.
- an angled coupling rod 68 At the between the other active winch 64 and the guide roller 42 extending run 66 engages an angled coupling rod 68 at. This is connected, for example via a clamp with the winch cable 40.
- This coupling rod 68 then engages with a horizontal leg 70 on the piston rod 36 of the piston 26.
- the hydraulic cylinder 24 is therefore as in the embodiment according to FIG. 1 designed as a synchronous cylinder.
- the lowering of the load L relative to the roller block 22 can thereby be effected be that the winch cable 40 unwound from the one active winch 64 and wound on the other active winch 44 or in that the active winches 44, 64 are operated in the same direction with a speed difference.
- the latter is for example the case when the load L is lowered over the lifting device and yet the push rod 68 is acted upon against the supporting force of the passive compensation device 6, wherein both active winches 44, 64 are controlled accordingly via the control unit, not shown. That is, by such active activation of the two active winches 44, 64, the push rod 68 is moved in the lowering direction against the bias of the passive compensation device 6 and the load is lowered relative to the roller block.
- the push rod 68 can be acted upon in lifting direction, so that this - as in conventional systems - also acts in the direction of support.
- the embodiment according to FIG. 5 is a variant of the embodiment according to FIG. 4 , According to the embodiment FIG. 5 is the hydraulic cylinder 24 as in the embodiment according to FIG. 2 designed as a differential cylinder 24, wherein the load L acts on the piston rod 34.
- a pressure rod 46 is mounted displaceably in the axial direction via a guide 48, which engages bypassing the hydraulic cylinder 24 on the crane hook on which the load L is suspended.
- the actuation of the push rod 46 is carried out according to the embodiment according to FIG. 4 , Accordingly, two active winches 44, 64 are provided, between which a traction means, for example, the winch cable 40 extends, which is deflected over the guide roller 42.
- the tension rod 66 connected to the strand 66 is connected directly to the push rod 46, so that the overcompensation by corresponding activation of the active winches 44, 64, the push rod 46 against the force acting on the load L bias is extended to the load L relative to the roller block 22 lower.
- FIG. 6 shows a further embodiment of the basis of the FIGS. 4 and 5 explained concept.
- the hydraulic cylinder 24 is designed as a differential cylinder.
- the active compensation unit 8 in turn has two active winches 44, 64 for catching or Fieren (unwinding, winding) of the winch cable 40 or other traction means.
- This pulley 42 drives a chain 72, a toothed belt, a shaft or the like a pinion 72, which in turn meshes with a rack 74, which via a pressure-resistant rod 76 with the load L is connected.
- the direction of rotation of the pinion 72 can thus be selected and, correspondingly via the operative connection with the toothed rack 74 and the rod 76, the load L is lowered counter to the overcompensation relative to the roller block 22 or raised to support the passive compensation device 6 become.
- the actuators are designed as winches (winch 21, active winches 44, 64).
- other actuators for example linear drives or the like, can be used instead of such winches.
- the winch cable 40 may be designed in the region of the deflection as a chain or other wear-resistant traction means.
- the wound up on the winding section can also be made from high-strength plastic, for example. Dyneema ®.
- the maximum on the active winches 44 and 64 wound rope length is different than in the winch of a pulley about only the maximum stroke of the load, so that the active actuators can be designed relatively small.
- the active one Compensation unit can be retrofitted with little effort, since the active and passive systems are essentially independently operable.
- the application of the device is not limited to the compensation of movements caused by swellings but is generally applicable where relative movements of a load due to external circumstances are to be compensated.
- the active compensation unit can also be designed as a mobile solution.
- the pressure in the pressure chamber 28 is so great during operation that the force generated by this pressure on the piston 26 overcompensates the weight of the load L.
- the force is 10 percent greater than the weight.
- the piston rod 34 would thus retract if a force in the direction of lowering the load would not be exerted by the active compensation unit 8 on the crane hook, which is equal to the over the weight force portion of the force generated by the pressure in the pressure chamber 28.
- the piston 26 is located approximately centrally in the hydraulic cylinder 24, so that he can make the same stroke in the opposite direction.
- the winch 44 is the relationship between the winches 44 and 64 so that the guide roller 42 follows the movement.
- the force generated by the active compensation unit is increased, so that the sum of the weight of the load and the force generated by the active compensation device 8 outweighs the force generated by the pressure prevailing in the pressure chamber 28 and the piston rod 34 extends.
- the movement of the load is not affected by the movement of the ship's crane. If the ship crane sinks due to a wave, the force generated by the active compensation unit is reduced, so that the sum of the weight of the load and the force generated by the active compensation device 8 becomes smaller than the force generated by the pressure prevailing in the pressure chamber 28 and the piston rod 34 enters. Again, we do not influence the movement of the load by the movement of the ship's crane.
- a sea state compensation device in which a load is supported via a passive compensation device and an active against the support direction effective force can be applied via an active compensation unit.
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Abstract
Offenbart ist eine Seegangskompensationseinrichtung, bei der eine Last über einen passive Kompensationseinrichtung abgestützt ist und über eine aktive Kompensationseinheit eine entgegen der Stützrichtung wirksame Kraft aufbringbar ist.Disclosed is a sea state compensation device, in which a load is supported via a passive compensation device and an active against the support direction effective force can be applied via an active compensation unit.
Description
Die Erfindung betrifft eine Einrichtung zum Heben, Senken oder Halten einer Last gemäß dem Oberbegriff des Patentanspruches 1.The invention relates to a device for lifting, lowering or holding a load according to the preamble of
Seegangs- oder Dünungskompensationseinrichtungen (Heave Compensation System) - im Folgenden auch HCS genannt - werden beispielsweise in der Offshore-/Marinetechnik eingesetzt, wenn eine Last von einem Schiff mittels eines Krans auf ein am Meeresboden abgestütztes Objekt, beispielsweise eine Plattform abgesetzt werden soll. Eine derartige Aufgabenstellung liegt bei der Montage von Bohrinseln oder Offshore-Windkraftanlagen vor oder wenn ein Bohrstrang von einer schwimmenden Plattform aus abgesenkt wird und diese durch den Seegang angehoben und abgesenkt wird. In der Forschung werden schwere Messgeräte oder Versorgungsstationen für Roboter oder dergleichen von einem Schiff über eine Winde in große Tiefen abgesenkt, wobei dann durch den Seegang verursacht das Halteseil erheblichen Zugbelastungen ausgesetzt ist.Swell or swell compensation devices (Heave Compensation System) - hereinafter also referred to as HCS - are used, for example, in offshore / marine technology when a load from a ship by means of a crane to an object supported on the seabed, for example, a platform to be discontinued. Such a task is in the assembly of rigs or offshore wind turbines before or when a drill string is lowered from a floating platform and this is raised and lowered by the sea. In research, heavy measuring devices or supply stations for robots or the like are lowered from a ship via a winch to great depths, in which case the tether, caused by the sea state, is exposed to considerable tensile loads.
Zum Ausgleich derartiger durch Seegang oder Dünung verursachten Relativbewegungen der Last zur jeweils vorgegebenen Zielposition sind passive und aktive Systeme bekannt. Bei einem passiven System, wie es beispielsweise in der Beschreibungseinleitung der
Derartige passive Einheiten sind konstruktiv auf den jeweiligen Anwendungszweck und die zugehörigen Lasten abgestimmt, so dass eine Anpassung an unterschiedliche Lasten nur mit größerem Aufwand möglich ist. Derartige Passivsysteme sind häufig zwischen dem eigentlichen Kranhaken und der Last angeordnet und befinden sich somit beim Absenken unterhalb des Meeresspiegels.Such passive units are designed to match the particular application and the associated loads, so that an adaptation to different loads is possible only with great effort. Such passive systems are often arranged between the actual crane hook and the load and thus are located when lowering below sea level.
Ein Problem bei derartigen passiven Systemen besteht darin, dass die Aufladung der hydropneumatischen Speichereinheit in Abhängigkeit von der Last und dem Seegang und auch von der Eintauchtiefe angepasst werden muss. In der
Bei Anwendungen, bei denen es auf eine sehr präzise Führung der Last beim Absenken ankommt, werden vorzugsweise aktive Systeme verwendet, bei denen ein Linearantrieb (Hydrozylinder) oder ein rotatorischer Antrieb (Hydromotor) mit einem Positionsregelsystem ausgeführt ist, durch das die Last durch Ansteuerung des Antriebs stets auf der vorbestimmten Position gehalten werden kann.In applications where a very precise guidance of the load during lowering is required, preferably active systems are used, in which a linear drive (hydraulic cylinder) or a rotary drive (hydraulic motor) is designed with a position control system, by which the load is controlled by controlling the load Drive can always be kept in the predetermined position.
Derartige aktive Systeme werden üblicher Weise auf dem Schiff angeordnet, so dass sie auch das Gewicht des Kranseils, der Kranblöcke (Flaschenzug) und des Kranhakens bewegen müssen, so dass die Nutzlast durch das zusätzliche Gewicht dieser Komponenten reduziert ist.Such active systems are usually placed on the ship, so they must also move the weight of the crane cable, the crane blocks (pulley) and the crane hook, so that the payload is reduced by the additional weight of these components.
Bei größeren Lasten wird üblicher Weise ein Kombination eines aktiven und passiven Systems eingesetzt, wie es beispielsweise in der
Dabei wird zum einen die Last über ein passives hydropneumatisches Speichersystem kompensiert und zum anderen die Sollposition der Last über ein aktives Regelsystem konstant gehalten. Ein derartiges System hat den Vorteil, dass über das aktive System lediglich die Ausgleichsbewegung der Last bewirkt werden muss, während das eigentliche Abstützen über das passive System erfolgt. Derartige Kombinationssysteme sind insbesondere dann erforderlich, wenn eine Last mit einer vorbestimmten Geschwindigkeit vom Meeresboden oder von einer auf diesem verankerten Plattform abgehoben oder auf diese abgesenkt werden soll. Ein ähnliches System ist auch in der eingangs genannten
Die
Derartige Systeme haben einen relativ komplexen Aufbau und werden seitens der Hersteller bei der Konzeption des Krans integriert. Eine Nachrüstung des aktiven Systems bei bestehenden Kränen, die lediglich mit einem passiven Kompensationssystem ausgeführt sind, ist nur mit äußerst großem Aufwand möglich, da ein Eingriff in die Kranstruktur des bestehenden Designs erforderlich ist und auch zusätzliche hydraulische Leistung bereitgestellt werden muss. Hinzu kommt, dass existierende Krandesigns aufgrund Restriktionen im Hinblick auf die maximale Seilgeschwindigkeit, das Gewicht und den Durchmesser der Seilscheiben/Blöcke und die Steifigkeit der Konstruktion unterliegen, so dass eine Nachrüstung mit einem aktiven System nahezu ausgeschlossen ist.Such systems have a relatively complex structure and are integrated by the manufacturer in the design of the crane. Retrofitting the active system to existing cranes using only a passive compensation system is only possible with great effort, as it requires intervention in the crane structure of the existing design and also provides additional hydraulic power. In addition, existing crane designs are subject to restrictions in terms of maximum line speed, weight and diameter of the sheaves / blocks, and rigidity of the structure, so retrofitting to an active system is virtually eliminated.
In den Druckschriften
Insbesondere dann, wenn über die Hubeinrichtung eine Last von einem Schiff auf einer am Meeresboden abgestützten Plattform oder einem anderen Schiff abgesetzt werden soll, muss darauf geachtet werden, dass die Last nicht zu schnell abgesenkt wird und somit beim Aufsetzen auf der Plattform/dem Schiff beschädigt wird. Dies kann beispielsweise dann erfolgen, wenn die aktive Kompensationseinheit aufgrund eines Störfalls ausfällt.In particular, when the lifting device is to be used to deposit a load from a ship on a platform supported on the seabed or another ship, care must be taken that the load is not lowered too quickly and thus damaged when placed on the platform / ship becomes. This can be done, for example, when the active compensation unit fails due to an accident.
Demgegenüber liegt der Erfindung die Aufgabe zugrunde, eine Einrichtung zum Heben, Senken oder Halten einer Last zu schaffen, bei der die Betriebssicherheit erhöht ist.In contrast, the invention has for its object to provide a means for lifting, lowering or holding a load, in which the reliability is increased.
Diese Aufgabe wird durch eine Einrichtung mit der Merkmalskombination des Patentanspruches 1 gelöst.This object is achieved by a device with the combination of features of
Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous developments of the invention are the subject of the dependent claims.
Erfindungsgemäß hat die Einrichtung zum Heben, Senken oder Halten einer Last eine Kompensationseinrichtung, die zum Ausgleich von insbesondere durch Seegang verursachten Relativbewegungen der Last mit Bezug zu einer Zielposition ausgeführt ist. Die Last ist mittels einer Hubeinrichtung in Richtung der Zielposition oder von dieser weg bewegbar. Der Hubeinrichtung ist vorzugsweise eine passive Kompensationseinrichtung zugeordnet. Des Weiteren ist eine aktive Kompensationseinheit vorgesehen, die über eine Regeleinheit in Abhängigkeit von einer Relativbewegung der Last oder einer wirksamen Kraft ansteuerbar ist. Die passive Kompensationseinrichtung ist so ausgelegt, dass sie das Gewicht der Last zumindest zu 100 Prozent stützt. Die aktive Kompensationseinheit ist erfindungsgemäß so ausgeführt, dass sie entgegengesetzt zur Stützrichtung an der Last angreift.According to the invention, the device for lifting, lowering or holding a load has a compensating device which is designed to compensate for the relative movements of the load, in particular caused by swell, with reference to a target position. The load is movable by means of a lifting device in the direction of the target position or away. The lifting device is preferably associated with a passive compensation device. Furthermore, an active compensation unit is provided which can be controlled via a control unit as a function of a relative movement of the load or an effective force. The passive compensation device is designed to support the weight of the load at least 100 percent. The active compensation unit according to the invention is designed so that it acts opposite to the supporting direction of the load.
Bei einer derartigen Konstellation wirkt somit die aktive Kompensationseinheit entgegengesetzt zur Stützrichtung, das heißt in Absenkrichtung. Dies ist ein wesentlicher Unterschied zu den eingangs beschriebenen herkömmlichen Lösungen gemäß der
Beim Ausfall der aktiven Kompensationseinheit des erfindungsgemäßen Systems wird innerhalb der passiven Kompensationseinrichtung ein Bauteil gegebenenfalls bis zu einem Anschlag verstellt.In case of failure of the active compensation unit of the system according to the invention, a component is optionally adjusted up to a stop within the passive compensation device.
Es wird besonders bevorzugt, wenn die passive Kompensationseinrichtung die wirksame Last überkompensiert. Dies lässt sich dadurch erreichen, dass deren Vorspannung so gewählt ist, dass die aus dieser Kompensation resultierende Stützkraft größer ist als die angreifende Last oder Kraft. In diesem Fall wird die Last bei einem Ausfall der aktiven Kompensationseinheit aufgrund der Überkompensation gemäß dem Hub der passiven Kompensationseinrichtung angehoben.It is particularly preferred if the passive compensation device overcompensates the effective load. This can be achieved in that their bias is chosen so that the resulting from this compensation support force is greater than the load or force. In this case, the load is increased in case of failure of the active compensation unit due to the overcompensation according to the stroke of the passive compensation device.
Der Aufbau der erfindungsgemäßen Einrichtung ist besonders einfach, wenn die passive Kompensationseinrichtung einen Hydrozylinder mit einem Kolben hat, der einen in Stützrichtung wirksamen Druckraum begrenzt. Dieser Druckraum steht in Wirkverbindung mit einer hydropneumatischen Speichereinheit, dessen Druck vorzugsweise in Abhängigkeit von der Last gewählt ist und der in üblicher Weise als hydropneumatischer Kolbenspeicher mit einer oder mehreren nachgeschalteten Gasflaschen ausgebildet sein kann.The structure of the device according to the invention is particularly simple if the passive compensation device has a hydraulic cylinder with a piston which limits a pressure chamber effective in the direction of support. This pressure chamber is in operative connection with a hydropneumatic storage unit whose pressure is preferably selected as a function of the load and which may be formed in the usual way as a hydropneumatic piston accumulator with one or more downstream gas cylinders.
Gemäß einer vorteilhaften Weiterbildung der Erfindung hat die aktive Kompensationseinheit einen Antrieb, vorzugsweise eine Aktivwinde oder einen aktiven Linearantrieb, dessen Aktor (beispielsweise ein Windenseil oder ein Linearaktor) entweder an der Last oder am Hydrozylinder der passiven Kompensationseinrichtung angreift.According to an advantageous development of the invention, the active compensation unit has a drive, preferably an active winch or an active linear drive, whose actuator (for example a winch cable or a linear actuator) acts either on the load or on the hydraulic cylinder of the passive compensation device.
Bei einem Ausführungsbeispiel der Erfindung wird ein Windenseil der Aktivwinde über eine Umlenkrolle umgelenkt und greift dann mittelbar oder unmittelbar am Hydrozylinder, insbesondere an einem Kolben des Hydrozylinders der passiven Kompensationseinrichtung oder an der Last an.In one embodiment of the invention, a winch rope of the active winch is deflected by a deflection roller and then engages directly or indirectly on the hydraulic cylinder, in particular on a piston of the hydraulic cylinder of the passive compensation device or on the load.
Eine derartige Umlenkrolle kann zylinderseitig oder an einem den Hydrozylinder tragenden Rollenblock gelagert sein.Such a deflection roller can be mounted on the cylinder side or on a roller block carrying the hydraulic cylinder.
Bei einem Ausführungsbeispiel der Erfindung greift das Windenseil der Aktivwinde an einer Druckstange (pushrod) an, die verschiebbar am Hydrozylinder oder am Rollenblock geführt ist.In one embodiment of the invention, the winch cable of the active winch engages a push rod, which is slidably guided on the hydraulic cylinder or on the roller block.
Bei einem weiteren Ausführungsbeispiel greift das Windenseil nicht direkt am Hydrozylinder oder an der Last an sondern wird über den Umlenkblock zu einer weiteren Aktivwinde geführt.In a further embodiment, the winch cable does not attack directly on the hydraulic cylinder or on the load but is guided over the Umlenkblock to another active winds.
Dabei kann in einem Abschnitt des Windenseils zwischen der Umlenkrolle und einer der Aktivwinden an dem Windenseil eine Koppelstange angreifen.In this case, a coupling rod can engage in a section of the winch cable between the deflection roller and one of the active winches on the winch cable.
Eine derartige Koppelstange kann wiederum an der Last oder an einem Kolben des Hydrozylinders angreifen. Im letztgenannten Fall kann die Koppelstange an einer mit der Last verbundenen Druckstange angreifen, die am Hydrozylinder oder an dem Rollenblock geführt ist.Such a coupling rod can in turn act on the load or on a piston of the hydraulic cylinder. In the latter case, the coupling rod can engage a connected to the load push rod, which is guided on the hydraulic cylinder or on the roller block.
Bei einer weiteren Ausführungsform treibt die Umlenkrolle ein Ritzel an, das mit einem an der Last mittelbar oder unmittelbar angreifenden Antriebselement, beispielsweise einer Zahnstange, kämmt.In a further embodiment, the deflection roller drives a pinion, which meshes with a directly or indirectly engaging the load drive element, such as a rack.
Bei einem mechanisch vereinfachten System greift der Aktor an einem Aktivkolben eines Pushzylinders an, wobei dieser Aktivkolben einen Aktivdruckraum begrenzt, der in Druckmittelverbindung mit einer entgegen der Stützrichtung wirksamen Druckkammer des Hydrozylinders steht. D.h. über diesen Pushzylinder wird der Kolben des Hydrozylinders mit einem in Absenkrichtung, d.h. entgegen der Stützrichtung, wirksamen Druck beaufschlagt.In a mechanically simplified system, the actuator engages an active piston of a push cylinder, wherein this active piston limits an active pressure space, which is in pressure medium connection with an effective counter to the direction of support pressure chamber of the hydraulic cylinder. That via this push cylinder, the piston of the hydraulic cylinder with a in the lowering, i. against the support direction, effective pressure applied.
Dabei wird es bevorzugt, wenn der Pushzylinder und der Hydrozylinder miteinander verbunden sind.It is preferred if the push cylinder and the hydraulic cylinder are connected together.
Prinzipiell ist es vorteilhaft, wenn die aus der Überkompensation oder Vorspannung resultierende Kraft etwa 105% bis 150%, vorzugsweise etwa 110% der zu bewegenden Last oder Kraft entspricht.In principle, it is advantageous if the resulting from the overcompensation or bias force corresponds to about 105% to 150%, preferably about 110% of the load or force to be moved.
Bevorzugte Ausführungsbeispiele der Erfindung werden im Folgenden anhand schematischer Zeichnungen näher erläutert. Bei den konkreten Ausführungsbeispielen ist die Einrichtung mit Kompensationseinrichtungen zum Ausgleich von durch Seegang verursachten Relativbewegungen der Last mit Bezug zu einer Zielposition ausgeführt.Preferred embodiments of the invention are explained in more detail below with reference to schematic drawings. In the concrete embodiments, the device is designed with compensation devices for compensating for sea-induced relative movements of the load with respect to a target position.
Es zeigen
Figur 1- ein erstes Ausführungsbeispiel einer erfindungsgemäßen Seegangskompensationseinrichtung mit einer passiven Kompensationseinrichtung und einer aktiven Kompensationseinheit, wobei letztere über eine Umlenkrolle an einem Kolben eines Hydrozylinders der passiven Kompensationseinrichtung an einer Last angreift,
Figur 2- ein dem ersten Ausführungsbeispiel ähnliches, zweites Ausführungsbeispiel, wobei die aktive Kompensationsunabhängig von der passiven Kompensationseinrichtung an einer Last angreift,
- Figur 3
- ein drittes Ausführungsbeispiel, wobei die aktive Kompensationseinheit hydraulisch/pneumatisch auf den Hydrozylinder der passiven Kompensationseinrichtung 24 wirkt,
- Figur 4
- ein viertes Ausführungsbeispiel, bei dem an einem von einer ersten Aktivwinde über eine Umlenkrolle zu einer zweiten Aktivwinde führenden Windenseil der aktiven Kompensationseinheit eine Druckstange befestigt ist
- Figur 5
- ein fünftes Ausführungsbeispiel ähnlich demjenigen nach
Figur 4 mit einem anderen Angriff der Druckstange an der Last und Figur 6
- FIG. 1
- a first embodiment of a sea state compensation device according to the invention with a passive compensation device and an active compensation unit, the latter acting on a load via a deflection roller on a piston of a hydraulic cylinder of the passive compensation device,
- FIG. 2
- a second embodiment similar to the first embodiment, wherein the active compensation acts on a load independently of the passive compensation device,
- FIG. 3
- a third embodiment, wherein the active compensation unit acts hydraulically / pneumatically on the hydraulic cylinder of the
passive compensation device 24, - FIG. 4
- a fourth embodiment, in which a push rod is attached to one of a first active winch via a pulley to a second active winch leading winch rope of the active compensation unit
- FIG. 5
- a fifth embodiment similar to that after
FIG. 4 with another attack of the push rod at the load and - FIG. 6
Beim Ausführungsbeispiel gemäß
Wie erwähnt, ist der Hydrozylinder 24 als Gleichgangzylinder ausgeführt. Eine in Figur 1 lastseitige Kolbenstange 34 trägt die Last L, die beispielsweise über einen Kranhaken oder dergleichen an der Kolbenstange 34 befestigt ist. Die andere, in Figur 1 obere Kolbenstange 36 trägt an ihrem Endabschnitt eine Konsole 38, an der ein Zugmittel, beispielsweise ein Windenseil 40 oder eine Kette der aktiven Kompensationseinheit 8 angreift. Da die Kolbenstange 36 denselben Durchmesser wie die Kolbenstange 34 hat, ist kein Ausgleich aufgrund des mit der Wassertiefe zunehmenden Umgebungsdrucks notwendig.As mentioned, the
Das Windenseil 40 greift in Absenkrichtung an der Konsole 38 an und wird mittels einer Umlenkrolle 42 in Richtung zu einer an Deck des Schwimmkrans 2 befindlichen Aktivwinde 44 der aktiven Kompensationseinheit 8 umgelenkt. In dem Bereich, in dem das Windenseil 40 in Wirkeingriff mit der Umlenkrolle 42 steht, kann es als Kette, Zahnriemen oder sonstiges zug- und verschleißfestes Zugmittel ausgeführt sein. Die Umlenkrolle 42 ist bei dem in
Anhand der weiteren
Bei dem Ausführungsbeispiel nach
Die aktiven Kompensationseinheit 8 hat wie bei dem Ausführungsbeispiel nach
Die Druckstange 46 ist in Vertikalrichtung axial verschiebbar an einer Führung 48 geführt, die ihrerseits am Hydrozylinder 24 oder am Rollenblock 22 festgelegt ist.The
Dementsprechend wird durch Einholen des Windenseils 40 die Druckstange 46 in der Darstellung gemäß
Bei dem Ausführungsbeispiel nach
Das Windenseil 40 endet jedoch nicht wie bei den zuvor beschriebenen Ausführungsbeispielen an einem sich im Bereich des Rollenblocks 22 befindlichen Bauteil, sondern erstreckt sich von der Umlenkrolle 42 weg zu einer weiteren Aktivwinde 64, die wie die Aktivwinde 44 ebenfalls über die nicht dargestellte Regeleinheit ansteuerbar ist, um das Windenseil 40 einzuholen oder zu fieren. An der sich zwischen der weiteren Aktivwinde 64 und der Umlenkrolle 42 erstreckenden Trum 66 greift eine angewinkelte Koppelstange 68 an. Diese ist beispielsweise über eine Klemmung mit dem Windenseil 40 verbunden. Diese Koppelstange 68 greift dann mit einem Horizontalschenkel 70 an der Kolbenstange 36 des Kolbens 26 an. Der Hydrozylinder 24 ist also wie bei dem Ausführungsbeispiel nach
Bei einer Überkompensation (110% der Last L) durch die passive Kompensationseinrichtung 6 kann das Absenken der Last L relativ zum Rollenblock 22 dadurch bewirkt werden, dass das Windenseil 40 von der einen Aktivwinde 64 abgewickelt und auf die andere Aktivwinde 44 aufgewickelt wird oder dadurch, dass die Aktivwinden 44, 64 in gleicher Richtung mit einer Drehzahldifferenz betrieben sind. Letzteres ist beispielsweise der Fall, wenn die Last L über die Hubeinrichtung abgesenkt wird und trotzdem die Druckstange 68 entgegen der Stützkraft der passivem Kompensationseinrichtung 6 beaufschlagt ist, wobei beide Aktivwinden 44, 64 über die nicht dargestellte Regeleinheit entsprechend angesteuert sind. Das heißt, dass durch eine derartige aktive Ansteuerung der beiden Aktivwinden 44, 64 die Druckstange 68 in Absenkrichtung gegen die Vorspannung der passiven Kompensationseinrichtung 6 bewegt wird und sich die Last relativ zum Rollenblock senkt.With overcompensation (110% of the load L) by the
In entsprechender Weise kann durch Umsteuern der Aktivwinden 44, 64 die Druckstange 68 in Anheberichtung beaufschlagt werden, so dass diese - wie bei herkömmlichen Systemen - ebenfalls in Stützrichtung wirkt.In a corresponding manner, by reversing the
Das Ausführungsbeispiel nach
Auch mit diesem Konzept kann bei der Kompensation des Seegangs durch Umsteuerung der Aktivwinden 44, 64 das Aufholen der Last L unterstützt werden.Even with this concept, the recovery of the load L can be assisted in the compensation of the seaway by reversing the
Selbstverständlich kann anstelle des Zahnradgetriebes mit einem Ritzel 72 und einer Zahnstange 74 auch ein sonstiges Getriebe verwendet werden.Of course, instead of the gear transmission with a
Bei den vorbeschriebenen Ausführungsbeispielen sind die Aktoren als Winden (Winde 21, Aktivwinden 44, 64) ausgeführt. Prinzipiell können anstelle derartiger Winden auch andere Aktoren, beispielsweise Linearantriebe oder dergleichen verwendet werden.In the embodiments described above, the actuators are designed as winches (
Wie beschrieben, kann das Windenseil 40 im Bereich der Umlenkung als Kette oder sonstiges verschleißfestes Zugmittel ausgeführt sein. Der auf die Winden aufzuwickelnde Abschnitt kann auch aus hochfestem Kunststoff, bspw. Dyneema® ausgeführt sein. Die auf die Aktivwinden 44 und 64 maximal aufgewickelte Seillänge entspricht anders als bei der Winde eines Flaschenzuges etwa nur dem maximalen Hub der Last, so dass die Aktivaktoren relativ klein ausgelegt werden können. Die aktive Kompensationseinheit kann mit geringem Aufwand nachgerüstet werden, da die aktiven und passiven Systeme im Wesentlichen unabhängig voneinander betreibbar sind. Wie erläutert, ist die Anwendung der Einrichtung nicht auf die Kompensation von durch Seegang verursachten Bewegungen begrenzt sondern allgemein dort anwendbar, wo aufgrund äußerer Umstände verursachte Relativbewegungen einer Last kompensiert werden sollen. Die aktive Kompensationseinheit kann auch als mobile Lösung ausgeführt sein.As described, the
Bei allen gezeigten Ausführungsbeispielen ist im Betrieb ist der Druck in dem Druckraum 28 so groß, dass die durch diesen Druck am Kolben 26 erzeugte Kraft das Gewicht der Last L überkompensiert. Zum Beispiel sei die Kraft 10 Prozent größer als die Gewichtskraft. Die Kolbenstange 34 würde also einfahren, wenn nicht durch die aktive Kompensationseinheit 8 am Kranhaken eine Kraft in Richtung Senken der Last ausgeübt werden würde, die gleich dem über die Gewichtskraft hinausgehenden Anteil der durch den Druck im Druckraum 28 erzeugten Kraft ist. Ohne Seegang befindet sich der Kolben 26 etwa mittig im Hydrozylinder 24, so dass er nach entgegengesetzten Richtung den gleichen Hub machen kann. Beim Heben oder Senken der Last ohne Seegang wird die Winde 44 beziehungsweis werden den Winden 44 und 64 so angesteuert, dass die Umlenkrolle 42 der Bewegung folgt. Hebt sich nun der Schiffskran aufgrund einer Welle, so wird die durch die aktive Kompensationseinheit erzeugte Kraft erhöht, so dass die Summe aus dem Gewicht der Last und der von der aktiven Kompensationseinrichtung 8 erzeugten Kraft die von dem im Druckraum 28 herrschenden Druck erzeugte Kraft überwiegt und die Kolbenstange 34 ausfährt. Die Bewegung der Last wird durch die Bewegung des Schiffskrans nicht beeinflusst. Senkt sich der Schiffskran aufgrund einer Welle, so wird die durch die aktive Kompensationseinheit erzeugte Kraft verringert, so dass die Summe aus dem Gewicht der Last und der von der aktiven Kompensationseinrichtung 8 erzeugten Kraft kleiner wird als die von dem im Druckraum 28 herrschenden Druck erzeugte Kraft und die Kolbenstange 34 einfährt. Wiederum wir die Bewegung der Last durch die Bewegung des Schiffskrans nicht beeinflusst.In all the exemplary embodiments shown, the pressure in the
Offenbart ist eine Seegangskompensationseinrichtung, bei der eine Last über einen passive Kompensationseinrichtung abgestützt ist und über eine aktive Kompensationseinheit eine entgegen der Stützrichtung wirksame Kraft aufbringbar ist.Disclosed is a sea state compensation device, in which a load is supported via a passive compensation device and an active against the support direction effective force can be applied via an active compensation unit.
- 11
- EinrichtungFacility
- 22
- Schwimmkranfloating crane
- 44
- MeeresbodenSeabed
- 66
- passive Kompensationseinrichtungpassive compensation device
- 88th
- aktive Kompensationseinheitactive compensation unit
- 1010
- Ladekranladekran
- 1414
- feste Rollesolid role
- 1616
- lose Rolleloose roll
- 1818
- Tragseilsupporting cable
- 2020
- Flaschenzugpulley
- 2121
- Windewinch
- 2222
- Rollenblockpulley block
- 2424
- Hydrozylinderhydraulic cylinders
- 2626
- Kolbenpiston
- 2828
- Druckraumpressure chamber
- 3030
- Druckkammerpressure chamber
- 3232
- hydropneumatische Speichereinheithydropneumatic storage unit
- 3434
- Kolbenstangepiston rod
- 3636
- Kolbenstangepiston rod
- 3838
- Konsoleconsole
- 4040
- Windenseilwinch rope
- 4242
- UmlenkblockUmlenkblock
- 4444
- Aktivwindeactive winds
- 4646
- Druckstangepushrod
- 4848
- Führungguide
- 5050
- Pushzylinderpush cylinder
- 5252
- Brückebridge
- 5454
- Aktivkolbenactive piston
- 5656
- AktivkolbenstangeActive piston rod
- 5858
- AktivdruckraumActive pressure chamber
- 6060
- Verbindungsleitungconnecting line
- 6262
- Kolbenraumpiston chamber
- 6464
- weitere Aktivwindemore active winds
- 6666
- TrumTrum
- 6868
- Koppelstangecoupling rod
- 7070
- Horizontalschenkelhorizontal leg
- 7272
- Ritzelpinion
- 7474
- Zahnstangerack
- 7676
- Stangepole
Claims (15)
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DE102016216260 | 2016-08-30 |
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EP3290384A1 true EP3290384A1 (en) | 2018-03-07 |
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EP3290384C0 EP3290384C0 (en) | 2024-03-13 |
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EP17167050.8A Active EP3290384B1 (en) | 2016-08-30 | 2017-04-19 | Device for lifting, lowering or holding a load |
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DE (1) | DE102017206595A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2017146591A2 (en) | 2016-02-22 | 2017-08-31 | Safelink As | Mobile active heave compensator |
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NL2035273B1 (en) * | 2023-07-05 | 2025-01-13 | Itrec Bv | Offshore crane with heave compensator |
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US3912227A (en) | 1973-10-17 | 1975-10-14 | Drilling Syst Int | Motion compensation and/or weight control system |
US4021019A (en) | 1975-03-24 | 1977-05-03 | British Columbia Research Council | Heave compensating cranes |
FR2383876A2 (en) * | 1977-03-17 | 1978-10-13 | Elf Aquitaine | Stabilisation system for barge anchored at sea - compensates for variation of distance between barge and sea bottom |
US4121806A (en) | 1976-03-18 | 1978-10-24 | Societe Nationale Elf Aquitaine (Production) | Apparatus for compensating variations of distance |
EP1869282B1 (en) | 2005-04-04 | 2009-10-07 | Bosch Rexroth AG | Hydraulic heave compensation system |
WO2011034422A2 (en) | 2009-09-18 | 2011-03-24 | Itrec B.V. | Hoisting device |
US7934561B2 (en) | 2007-04-10 | 2011-05-03 | Intermoor, Inc. | Depth compensated subsea passive heave compensator |
EP2896589A1 (en) | 2014-01-17 | 2015-07-22 | SAL Offshore B.V. | Method and apparatus |
DE102015225936A1 (en) | 2015-01-14 | 2016-07-14 | Robert Bosch Gmbh | Device for lifting, lowering or holding a load and method for controlling such a device |
DE102015225931A1 (en) | 2015-12-18 | 2017-06-22 | Alexander Vogler | Lighting device for a vehicle |
WO2018151593A1 (en) | 2017-02-14 | 2018-08-23 | Itrec B.V. | Heave motion compensation system |
-
2017
- 2017-04-19 DE DE102017206595.8A patent/DE102017206595A1/en active Pending
- 2017-04-19 EP EP17167050.8A patent/EP3290384B1/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
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US3912227A (en) | 1973-10-17 | 1975-10-14 | Drilling Syst Int | Motion compensation and/or weight control system |
US4021019A (en) | 1975-03-24 | 1977-05-03 | British Columbia Research Council | Heave compensating cranes |
US4121806A (en) | 1976-03-18 | 1978-10-24 | Societe Nationale Elf Aquitaine (Production) | Apparatus for compensating variations of distance |
FR2383876A2 (en) * | 1977-03-17 | 1978-10-13 | Elf Aquitaine | Stabilisation system for barge anchored at sea - compensates for variation of distance between barge and sea bottom |
EP1869282B1 (en) | 2005-04-04 | 2009-10-07 | Bosch Rexroth AG | Hydraulic heave compensation system |
US7934561B2 (en) | 2007-04-10 | 2011-05-03 | Intermoor, Inc. | Depth compensated subsea passive heave compensator |
WO2011034422A2 (en) | 2009-09-18 | 2011-03-24 | Itrec B.V. | Hoisting device |
EP2896589A1 (en) | 2014-01-17 | 2015-07-22 | SAL Offshore B.V. | Method and apparatus |
DE102015225936A1 (en) | 2015-01-14 | 2016-07-14 | Robert Bosch Gmbh | Device for lifting, lowering or holding a load and method for controlling such a device |
DE102015225931A1 (en) | 2015-12-18 | 2017-06-22 | Alexander Vogler | Lighting device for a vehicle |
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Publication number | Priority date | Publication date | Assignee | Title |
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WO2017146591A2 (en) | 2016-02-22 | 2017-08-31 | Safelink As | Mobile active heave compensator |
Also Published As
Publication number | Publication date |
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EP3290384B1 (en) | 2024-03-13 |
EP3290384C0 (en) | 2024-03-13 |
DE102017206595A1 (en) | 2018-03-01 |
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