WO2019190314A2 - Grue en haute mer - Google Patents

Grue en haute mer Download PDF

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Publication number
WO2019190314A2
WO2019190314A2 PCT/NL2019/050184 NL2019050184W WO2019190314A2 WO 2019190314 A2 WO2019190314 A2 WO 2019190314A2 NL 2019050184 W NL2019050184 W NL 2019050184W WO 2019190314 A2 WO2019190314 A2 WO 2019190314A2
Authority
WO
WIPO (PCT)
Prior art keywords
axis
actuator
luffing
gripper
slewing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/NL2019/050184
Other languages
English (en)
Other versions
WO2019190314A3 (fr
Inventor
Jorrit Lennart VAN DOMMELEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BARGE MASTER IP BV
Original Assignee
BARGE MASTER IP BV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BARGE MASTER IP BV filed Critical BARGE MASTER IP BV
Publication of WO2019190314A2 publication Critical patent/WO2019190314A2/fr
Publication of WO2019190314A3 publication Critical patent/WO2019190314A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes

Definitions

  • WO2010/114359 Also this simplified platform is kept motionless with respect to the fixed world (whilst the vessel is moving underneath the motionless platform). Although this platform is capable of keeping a crane almost fully motionless with a simple control, the platform is still large and heavy. According to WO2014/123414, the footprint is - with respect to WO2010/114359 - considerably reduced by a pedestal like construction of the carrying platform. This construction of WO2014/123414 still has a kind of carrying platform integrated in/with the pedestal. This construction is still large in height and heavy. Further in WO2014/123414 the power used for controlling the actuators of the carrying platform is still considerable because the entire crane on top of the pedestal is to be kept stationary.
  • the sensor system may equally well be arranged on the vessel. It is even conceivable that a sensor system already present on the vessel is used. Further it is to be noted that the sensor system may also be provided on a moving part of the crane, such as on the boom structure of the crane.
  • the sensor system is further configured for generating sensor signals representing said sensed movements of the substructure.
  • the control system is adapted to generate control signals for driving the actuator system in response to the sensor signals such that the position of the gripper is compensated for said sensed movements.
  • This simplification of the control is based on the insight that the cable carrying the load does not transfer x-axis, y- axis and z-axis rotation of the vessel to the load in case the free end of the boom structure is kept vertically above the load and that the vertical height of the load can be kept stationary by manipulating the vertical height of the free end of the boom structure and/or manipulating the heave device. Further, x-axis, y-axis and z-axis rotation experienced by the free end of the boom structure in practise turn out to be negligibly small.
  • the actuator system further comprises a knuckle actuator configured for actuating the first and second boom member to rotate with respect to each other around the knuckle axis; and wherein the control system is adapted to generate a knuckle control signal for driving the knuckle actuator.
  • the boom structure is a single boom comprising a first boom member 5.
  • the sensor system 21 may be provided on the vessel, on the substructure of the crane, or on any part of the superstructure of the crane.
  • the sensor system is by way of example provided on the substructure 3 of the crane.
  • the sensor system 21 is by way of example provided on the vessel 1. Similar applies for the control system 22.
  • the control system 22 may be provided on the vessel, on the substructure of the crane, or on any part of the superstructure of the crane.
  • the control system 22 is in the first and second embodiment shown in figures 1-7 provided on the vessel.
  • control system is adapted to determine from the sensor signals an x-, y- and z-translation experienced by the free end of the boom structure due to the sensed movements of the vessel or substructure or any other part of the crane, depending on where the sensor system is arranged.
  • the sensed movements consist of an x-axis translational movement, y-axis translational movement, z-axis translational movement, x-axis rotational movement, y-axis rotational movement and z-axis rotational movement. These movements represent the movement to which the vessel is subjected at a moment in time by the water motion.
  • the y-translational movement caused by the water can be fully neutralized by only actuating the luffing actuator 16 and knuckle actuator 20.
  • the winch actuator may be required to be actuated as well because the boom structure alone is unable to eliminate the x-, y- and z-translation experienced by the gripper 9.
  • Figure 7 shows the case that the vessel and crane of figure 5 are subjected to only an y- translational movement caused by the water.
  • the first position - solid lines - of the vessel is to the left of the second position - dashed lines - of the vessel.
  • the gripper 9 is at the same position with respect to the fixed world. This is achieved by, starting from the first position shown in solid lines, simultaneously operating the luffing actuator 16 and winch actuator 17 to move the boom structure 5 to the second position shown in dashed lines.
  • the y-translational movement caused by the water can be fully neutralized by only actuating the luffing actuator 16 and winch actuator 17.
  • the superstructure comprises:
  • heave device comprising a winch, a hoisting cable, and a gripper configured for carrying a load; wherein the crane comprises a slewing actuator and a luffing actuator;
  • the slewing actuator configured for actuating the base to rotate around the slewing axis
  • control system is adapted to generate a slewing control signal for driving the slewing actuator
  • the actuator system further comprises a knuckle actuator configured for actuating the first and second boom member to rotate with respect to each other around the knuckle axis;
  • control system is adapted to generate a heave control signal for driving the heave actuator.
  • Assembly comprising an offshore crane according to one of the clauses 1-8 and a vessel, wherein the substructure of the crane is mounted on the vessel such that it is immobile with respect to the vessel.
  • the offshore crane has a substructure and a superstructure, the superstructure comprising:
  • boom structure has a fixed end supported by the base and a free end;
  • control system is adapted
  • the position of the gripper is kept stationary by controlling at least the slewing actuator and the luffing actuator.
  • further actuators may be controlled by the controller.
  • the superstructure comprises:

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

L'invention concerne une grue en haute mer à compensation du mouvement local de l'eau. La grue a une sous-structure, une flèche et un dispositif de pilonnement comprenant un treuil, un câble de levage et un dispositif de préhension pour transporter une charge. La flèche a une extrémité fixe supportée par la sous-structure et une extrémité libre. Le câble de levage s'étend à partir du treuil, le long de la flèche jusqu'à l'extrémité libre de la flèche, et est suspendu depuis l'extrémité libre de la flèche librement jusqu'au dispositif de préhension. Au niveau de l'extrémité fixe, la flèche est conçue pour pivoter par rapport à la sous-structure autour d'un axe de pivotement et pour osciller par rapport à la sous-structure autour d'un axe de volée, l'axe de volée étant perpendiculaire à l'axe de pivotement. Afin de compenser un mouvement local de l'eau, un mouvement de translation d'axe x, un mouvement de translation d'axe y, un mouvement de translation d'axe z, un mouvement de rotation d'axe x, un mouvement de rotation d'axe y et un mouvement de rotation d'axe z sont mesurés ; sur la base de ces mesures, des translations d'axe x, y et z, subies par l'extrémité libre de la flèche en raison d'un mouvement de la sous-structure, sont déterminées ; et ces translations d'axe x, y et z déterminées sont neutralisées en actionnant de manière correspondante le système d'actionneur de sorte que la position du dispositif de préhension soit maintenue immobile. L'invention concerne également un procédé pour compenser une telle grue contre un mouvement local de l'eau.
PCT/NL2019/050184 2018-03-26 2019-03-25 Grue en haute mer Ceased WO2019190314A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2020664A NL2020664B1 (en) 2018-03-26 2018-03-26 Offshore crane
NL2020664 2018-03-26

Publications (2)

Publication Number Publication Date
WO2019190314A2 true WO2019190314A2 (fr) 2019-10-03
WO2019190314A3 WO2019190314A3 (fr) 2020-04-02

Family

ID=62167866

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2019/050184 Ceased WO2019190314A2 (fr) 2018-03-26 2019-03-25 Grue en haute mer

Country Status (2)

Country Link
NL (1) NL2020664B1 (fr)
WO (1) WO2019190314A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4008679A1 (fr) * 2020-12-03 2022-06-08 Reel Grue à flèche articulée, pour application offshore
FR3117100A1 (fr) * 2020-12-03 2022-06-10 Reel Grue à flèche articulée, pour application offshore

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010114359A1 (fr) 2009-04-03 2010-10-07 Barge Master Ip B.V. Dispositif de compensation de mouvement pour la compensation d'un cadre porteur sur un navire pour déplacement d'eau
WO2014123414A1 (fr) 2013-02-05 2014-08-14 Barge Master Ip B.V. Dispositif de compensation de mouvement
WO2017103139A1 (fr) 2015-12-18 2017-06-22 Van Aalst Group B.V. Ensemble de levage à compensation de mouvement tridimensionnelle pour grues

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2007761C2 (en) * 2011-11-09 2013-05-13 Ihc Holland Ie Bv Vessel and crane with full dynamic compensation for vessel and wave motions.
WO2014200354A1 (fr) * 2012-06-06 2014-12-18 Seaonicas As Grue hybride
WO2015199543A1 (fr) * 2014-06-23 2015-12-30 Ulstein Idea Equipment Solutions Bv Système de positionnement avec compensation de mouvement d'extrémité distale

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010114359A1 (fr) 2009-04-03 2010-10-07 Barge Master Ip B.V. Dispositif de compensation de mouvement pour la compensation d'un cadre porteur sur un navire pour déplacement d'eau
WO2014123414A1 (fr) 2013-02-05 2014-08-14 Barge Master Ip B.V. Dispositif de compensation de mouvement
WO2017103139A1 (fr) 2015-12-18 2017-06-22 Van Aalst Group B.V. Ensemble de levage à compensation de mouvement tridimensionnelle pour grues

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4008679A1 (fr) * 2020-12-03 2022-06-08 Reel Grue à flèche articulée, pour application offshore
FR3117100A1 (fr) * 2020-12-03 2022-06-10 Reel Grue à flèche articulée, pour application offshore
FR3117099A1 (fr) * 2020-12-03 2022-06-10 Reel Grue à flèche articulée, pour application offshore
US11858783B2 (en) 2020-12-03 2024-01-02 Reel Knuckle boom crane, for offshore application
EP4464648A3 (fr) * 2020-12-03 2025-01-15 Reel Grue à flèche articulée, pour application offshore

Also Published As

Publication number Publication date
WO2019190314A3 (fr) 2020-04-02
NL2020664B1 (en) 2019-10-07

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