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EP3252001B1 - Winching device - Google Patents

Winching device Download PDF

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Publication number
EP3252001B1
EP3252001B1 EP17170536.1A EP17170536A EP3252001B1 EP 3252001 B1 EP3252001 B1 EP 3252001B1 EP 17170536 A EP17170536 A EP 17170536A EP 3252001 B1 EP3252001 B1 EP 3252001B1
Authority
EP
European Patent Office
Prior art keywords
winch device
compensation system
piston
cantilever arm
cylinder
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.)
Active
Application number
EP17170536.1A
Other languages
German (de)
French (fr)
Other versions
EP3252001A1 (en
Inventor
Evert Mulder
Maarten Kuijpers
Johan van Hoof
Mark van Lieshout
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.)
Van Halteren Technologies Boxtel BV
Original Assignee
Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3252001A1 publication Critical patent/EP3252001A1/en
Application granted granted Critical
Publication of EP3252001B1 publication Critical patent/EP3252001B1/en
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Classifications

    • 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
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a winch device with a system for heave compensation according to the preamble of patent claim 1.
  • winch devices are mounted on ships, for example, and are used to raise and lower loads outside the ship's side.
  • heave compensation systems are provided.
  • Passive and active systems for heave compensation are known from the prior art. With passive systems, a spring concept is implemented, while with active systems, height control with active height correction is implemented. To do this, active systems - in contrast to passive systems - require an external power supply.
  • the pamphlet U.S. 4,021,019 shows a winch device in the form of a crane, the jib of which is supported by a pair of hydraulic cylinders set at an angle to one another.
  • these are further developed as a passive compensation system whose quasi spring force is essentially determined by the tension of a hydraulic accumulator connected to the cylinder.
  • an active compensation system can be connected in addition or in parallel, which has a bidirectional variable displacement pump. Both systems use the same pair of hydraulic cylinders.
  • the disadvantage of the latter winch device is that to adapt the passive compensation system to heavier loads, a compressor or a pump and a correspondingly complex hydraulic system in terms of device technology are required, which increases the pressure in the hydraulic accumulator. This is necessary, for example, after the hydraulic accumulator pressure has been reduced in order to adapt the passive compensation system to a lower load. Furthermore, a comparatively large amount of energy and time is required to increase the pressure in the hydraulic accumulator.
  • the invention is based on the object of creating a winch device with a passive compensation system that can be adapted to different loads. Furthermore, little energy and time should be required for adaptation.
  • the claimed winch device has a boom on which at least one deflection roller for a flexible traction means is arranged.
  • the traction means is used to raise and lower a load using a winch.
  • the boom can be rotated or pivoted about an approximately horizontal axis, so that the deflection roller can be raised and lowered.
  • the cantilever is supported or supported by a compensation system for passive heave compensation in order to equalize the lifting force - quasi spring force - which the cantilever transmits to the load via the flexible traction mechanism. According to the invention, a distance between an articulation point of the compensation system on the boom and the axis can be changed.
  • the winch device is preferably arranged on the deck of a floating body, in particular a ship, so that its wave motion is compensated for.
  • the deflection roller can be positioned or is positioned outside the ship's side.
  • the passive compensation system preferably has a cylinder-piston combination as its main component.
  • a piston rod of the cylinder-piston combination can be coupled to the articulation point that can be changed according to the invention.
  • the winch device preferably has a drive, via which a translational movement of the pivot point along a path of movement on the boom can be generated. Then the time required for an adjustment process is minimal, for example about 20 seconds in one embodiment.
  • the drive is preferably arranged directly on the boom.
  • the latter has an adjusting hydraulic cylinder which is coupled on the one hand to the boom and on the other hand to a rotor on which the pivot point is also formed.
  • the winch device When the winch device according to the invention has a main section or main body which is fixed to the ship, the axis is defined by an upper pivot joint between the main section and the boom, and the passive compensation system is articulated to the main section via a lower pivot joint.
  • the movement path of the pivot point is in the form of a circular arc and has a circular arc center approximately in the lower swivel joint. This allows the supporting moment to be changed without changing the torque or pivoting position of the jib and thus changing the height of the deflection pulley and the load. It is thus possible to adapt the passive compensation system to different loads and in particular to adapt it to increased loads with an energy input that is theoretically zero and which practically only has to be sufficient to overcome friction losses.
  • the cylinder-piston combination is coupled on the one hand to the movable articulation point and on the other hand to the lower swivel joint.
  • a compressible gas is provided in the cylinder. If the cylinder can be tensioned by means of nitrogen and preferably by means of a piston accumulator of the passive compensation system, the risk of the diesel effect is avoided. This effect can arise when, according to the state of the art, air comes together with oil, for example due to leaks under pressure.
  • a geometry of the boom is preferably adapted to a gas curve. This achieves a linear progression of the lifting force - quasi spring force.
  • the trajectory of the articulation point can also deviate from the circular arc shape mentioned above.
  • the trajectory is optimized with a view to changes in the gas curve and with a view to minimizing the adjustment forces of the drive.
  • a preferred development of the winch device according to the invention has an additional active compensation system.
  • the passive compensation system can essentially compensate for the static load, while the active compensation system essentially compensates for the movement of the floating body - in particular the ship.
  • the active compensation system can also provide additional compensation for that of the passive compensation system perform fully compensated wave movements.
  • the active compensation system can also compensate for the deviations resulting from the gas curve, in particular if these are not compensated for via the aforementioned geometry of the boom and/or the trajectory. When the load is set down, this can be compensated for particularly quickly.
  • the additional active compensation system is independent of the device and can be retrofitted in a modular manner if it has a hydraulic cylinder.
  • the hydraulic cylinder of the active compensation system and the cylinder-piston combination of the passive compensation system and the adjusting hydraulic cylinder each have a cylinder housing, a piston and one or two piston rods as essential components.
  • the hydraulic cylinder of the active compensation system can be clamped between the main section and the boom.
  • the active compensation movements are then also generated by pivoting the boom (raising and lowering the deflection roller), so that a non-compensated winch can be used.
  • the hydraulic cylinder of the active compensation system can be smaller than the cylinder-piston combination of the passive compensation system.
  • the hydraulic cylinder of the active compensation system can then be arranged in a space-saving manner between the axis formed by the swivel or rotary joint and the cylinder-piston combination of the passive compensation system.
  • a plastic cable or a light-weight glass fiber cable (eg Dyneema) can then be provided as a flexible traction device.
  • a steel cable can also be used.
  • figure 1 shows in a cross-section a hull 1 of a ship, on the deck of which a non-compensated winch 2 is rotatably attached.
  • a main section 4 is fastened to the hull 1 at the edge of the deck, and a boom 8 is articulated to the upper end section of the main section via an upper rotary joint 6 .
  • the swivel joint 6 thus forms an axis 10 which is approximately horizontal and parallel to the deck of the hull 1 of the ship.
  • the boom 8 extends essentially away from the hull 1 in the direction of the open water and has a deflection roller 12, 18 on the end section remote from the hull 1 and on an end section directed towards the hull 1.
  • a load 14 is raised or lowered or kept as still as possible via a drive (not shown) of the winch 2 and via a fiber optic cable 16 .
  • One end section of the fiber optic cable 16 is attached to the end section of the boom 8 remote from the hull 1 and runs from there over a deflection roller 18, to which the load 14 is attached and the two deflection rollers 12, 18 of the boom 8 to the winch 2.
  • figure 1 shows a cylinder-piston combination 20 with a differential cylinder and with a piston rod which is articulated to the boom 8 via a pivot point 22, while the differential cylinder is articulated to a lower region of the main section 4 via a lower pivot joint 24.
  • the cylinder-piston combination 20 thus forms an inclined support for the boom 8. This support is resilient, since a piston head space of the differential cylinder is connected via a line 26 to a pressure space of a high-pressure piston accumulator 28 and is filled with a constant amount of nitrogen.
  • the force that the cylinder-piston combination 20 exerts along its piston rod on the pivot point 22 is determined by a gas curve of the nitrogen.
  • the total compensation of the passive compensation system is also determined by an angle between the cylinder-piston combination 20 and the boom 8 and by a distance of the pivot point 22 from the axis 10 of the swivel joint 6 . This distance can be adjusted according to the invention.
  • the pivot point 22 can be moved along the boom 8 via a translatory drive 30 . A movement path and in particular its length are symbolized by a double arrow 32 .
  • an active compensation system is planned, of which figure 1 only one hydraulic cylinder 34 is shown. In the exemplary embodiment shown, this is designed as a synchronous cylinder, which is also clamped between the boom 8 and the main section 4, with the corresponding joints not being displaceable.
  • the hydraulic cylinder 34 can be retracted and extended actively and comparatively quickly via a hydraulic actuator (not shown).
  • the hydraulic cylinder 34 of the active compensation system is smaller than the cylinder-piston combination 20 of the passive compensation system. In operation, the passive compensation system transmits a greater moment of support to the boom 8 than the active compensation system.
  • figure 2 shows a second embodiment of the winch device according to the invention in a perspective view.
  • the limp traction mechanism and the winch were omitted.
  • the main section 4 attached to the deck of the hull 1 and the boom 8 coupled thereto via the upper pivot joint 6 with the two deflection rollers 12, 18 correspond to those of the first exemplary embodiment according to FIG figure 1 .
  • a boom-side end section of the piston rod of the cylinder-piston combination 20 of the passive compensation system is guided between two laterally spaced sections of the boom 8 via a runner 36 along a movement path 38 .
  • the movement path 38 is in the form of a circular arc.
  • the circular arc of the movement path 38 has its center in the lower swivel joint 24. This ensures that the (in figure 2 drive (not shown for reasons of clarity) requires little force and energy in order to adjust the runner 36 along the movement path 38, with which the passive compensation system can be adapted to different loads with minimal outlay in terms of device technology and energy requirements.
  • an additional active compensation system is preferably also provided there.
  • Deviating from the shape of a circular arc, the movement path can also have other shapes that are optimized for the application.
  • figure 3 shows a schematic perspective view of the winch device according to the invention according to a third embodiment with a movement path 138 which is arcuate and not circular.
  • the boom 8 with the two deflection rollers 12 and 18, the main section 4, the cylinder-piston combination 20 of the passive compensation system, the hydraulic cylinder 34 of the active compensation system and the swivel joint 6 with the axis 10 correspond to those of the first exemplary embodiment figure 1 .
  • a runner 136 can be moved along the movement path 138 of the boom 8 according to the double arrow 132 .
  • the runner 136 has a number of rollers on its upper side, on which the boom 8, more precisely its movement path 138, rests.
  • the drive is designed as an adjusting hydraulic cylinder 130 whose cylinder housing is articulated to the boom 8 adjacent to the axis 10 and whose piston rod is articulated to the runner 136 .
  • the adjusting hydraulic cylinder 130 is arranged approximately parallel to the boom 8 .
  • the piston rod of the adjusting hydraulic cylinder 130 and the cylinder-piston combination 20 of the passive compensation system are connected to the rotor 136 via the pivot point 22 .
  • loads 14 with a weight of, for example, 150 t can be held in a water depth of, for example, 2500 m.
  • the fiber optic cable weighs another 60 t, for example.
  • a winch device with a heave-compensating system that is passive and has a fixed amount of compressible gas is disclosed.
  • the system is adjusted or set by changing a support torque on a pivotable extension arm. For this purpose, a point at which the supporting force is introduced into the boom can be shifted along the boom.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)

Description

Die Erfindung betrifft eine Windenvorrichtung mit einem System zur heave-compensation gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a winch device with a system for heave compensation according to the preamble of patent claim 1.

Derartige Windenvorrichtungen werden z.B. auf Schiffen montiert und dienen zum Heben und Senken von Lasten außerhalb der Bordwand. Um eine möglichst konstante Höhe der Last zu erreichen, also insbesondere zur Kompensation von Auf- und Abwärtsbewegungen des Schiffes, werden Systeme zur heave-compensation vorgesehen.Such winch devices are mounted on ships, for example, and are used to raise and lower loads outside the ship's side. In order to achieve a load height that is as constant as possible, ie in particular to compensate for upward and downward movements of the ship, heave compensation systems are provided.

Aus dem Stand der Technik sind passive und aktive Systeme zur heave-compensation bekannt. Bei passiven Systemen wird ein Feder-Konzept realisiert, während bei aktiven Systemen eine Höhenkontrolle mit aktiver Höhenkorrektur realisiert wird. Dazu benötigen aktive Systeme - im Gegensatz zu passiven Systemen - eine externe Energiezuführung.Passive and active systems for heave compensation are known from the prior art. With passive systems, a spring concept is implemented, while with active systems, height control with active height correction is implemented. To do this, active systems - in contrast to passive systems - require an external power supply.

Die Druckschrift US 4,021,019 zeigt eine Windenvorrichtung in Form eines Kranes, dessen Ausleger über ein Paar schräg zueinander angestellte Hydraulikzylinder abgestützt ist. Diese sind einerseits als passives Kompensationssystem weitergebildet, deren quasi Federkraft im Wesentlichen von der Spannung eines an die Zylinder angeschlossenen Hydrospeichers bestimmt ist. Darüber hinausgehend kann ergänzend oder parallel ein aktives Kompensationssystem geschaltet werden, das eine bidirektionale Verstellpumpe aufweist. Beide Systeme verwenden das gleiche Paar von Hydraulikzylindern.The pamphlet U.S. 4,021,019 shows a winch device in the form of a crane, the jib of which is supported by a pair of hydraulic cylinders set at an angle to one another. On the one hand, these are further developed as a passive compensation system whose quasi spring force is essentially determined by the tension of a hydraulic accumulator connected to the cylinder. In addition, an active compensation system can be connected in addition or in parallel, which has a bidirectional variable displacement pump. Both systems use the same pair of hydraulic cylinders.

Nachteilig an der letztgenannten Windenvorrichtung ist, dass zur Anpassung des passiven Kompensationssystems an schwerere Lasten ein Kompressor oder eine Pumpe und ein entsprechend vorrichtungstechnisch aufwändiges hydraulisches System benötigt wird, die den Druck in dem Hydrospeicher erhöht. Dies ist z.B. nötig, nachdem zuvor der Druck des Hydrospeichers verringert wurde, um das passive Kompensationssystem an geringere Last anzupassen. Weiterhin wird zur Erhöhung des Drucks in dem Hydrospeicher vergleichsweise viel Energie und Zeit benötigt.The disadvantage of the latter winch device is that to adapt the passive compensation system to heavier loads, a compressor or a pump and a correspondingly complex hydraulic system in terms of device technology are required, which increases the pressure in the hydraulic accumulator. This is necessary, for example, after the hydraulic accumulator pressure has been reduced in order to adapt the passive compensation system to a lower load. Furthermore, a comparatively large amount of energy and time is required to increase the pressure in the hydraulic accumulator.

Dem gegenüber liegt der Erfindung die Aufgabe zu Grunde, eine Windenvorrichtung mit einem passivem Kompensationssystem zu schaffen, das an verschiedene Lasten anpassbar ist. Weiterhin soll zur Anpassung wenig Energie und Zeit benötigt werden.In contrast, the invention is based on the object of creating a winch device with a passive compensation system that can be adapted to different loads. Furthermore, little energy and time should be required for adaptation.

Diese Aufgabe wird gelöst durch eine Windenvorrichtung mit den Merkmalen des Patentanspruchs 1.This object is achieved by a winch device having the features of patent claim 1.

Die beanspruchte Windenvorrichtung hat einen Ausleger, an dem zumindest eine Umlenkrolle für ein biegeschlaffes Zugmittel angeordnet ist. Das Zugmittel dient zum Heben und Senken einer Last mittels einer Winde. Der Ausleger ist um eine etwa waagerechte Achse drehbar oder schwenkbar, so dass die Umlenkrolle hebbar und senkbar ist. Der Ausleger ist von einem Kompensationssystem zur passiven heave compensation unterstützt oder abgestützt um die Hebekraft - quasi Federkraft -, die der Ausleger über das biegeschlaffe Zugmittel auf die Last überträgt, zu vergleichmäßigen. Erfindungsgemäß ist ein Abstand zwischen einem Anlenkpunkt des Kompensationssystems an dem Ausleger und der Achse veränderbar. Damit lässt sich das Stützmoment, die das Kompensationssystem auf den Ausleger überträgt, verändern, wodurch das Kompensationssystem an unterschiedliche Lasten angepasst oder für unterschiedliche Lasten voreingestellt wird. Reibungen und Massenträgheiten sind gegenüber den Kompensationssystemen des Standes der Technik verringert. Weiterhin wird zur Anpassung des Kompensationssystems an unterschiedliche Lasten wenig Energie benötigt, da im Wesentlichen eine Verschiebearbeit geleistet werden muss.The claimed winch device has a boom on which at least one deflection roller for a flexible traction means is arranged. The traction means is used to raise and lower a load using a winch. The boom can be rotated or pivoted about an approximately horizontal axis, so that the deflection roller can be raised and lowered. The cantilever is supported or supported by a compensation system for passive heave compensation in order to equalize the lifting force - quasi spring force - which the cantilever transmits to the load via the flexible traction mechanism. According to the invention, a distance between an articulation point of the compensation system on the boom and the axis can be changed. This allows the moment of support that the compensation system transmits to the boom to be changed, as a result of which the compensation system is adapted to different loads or preset for different loads. Friction and mass inertia are reduced compared to the prior art compensation systems. Furthermore, little energy is required to adapt the compensation system to different loads, since displacement work essentially has to be performed.

Vorzugsweise ist die Windenvorrichtung an Deck eines Schwimmkörpers, insbesondere eines Schiffes angeordnet, so dass dessen Wellenbewegung kompensiert wird. Die Umlenkrolle ist außerhalb der Bordwand positionierbar oder positioniert.The winch device is preferably arranged on the deck of a floating body, in particular a ship, so that its wave motion is compensated for. The deflection roller can be positioned or is positioned outside the ship's side.

Vorzugsweise weist das passive Kompensationssystem als Hauptbestandteil eine Zylinder-Kolben-Kombination auf. Dabei kann eine Kolbenstange der Zylinder-Kolben-Kombination an den erfindungsgemäß veränderbaren Anlenkpunkt gekoppelt sein.The passive compensation system preferably has a cylinder-piston combination as its main component. A piston rod of the cylinder-piston combination can be coupled to the articulation point that can be changed according to the invention.

Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den abhängigen Patentansprüchen beschrieben.Further advantageous refinements of the invention are described in the dependent patent claims.

Vorzugsweise hat die erfindungsgemäße Windenvorrichtung einen Antrieb, über den eine translatorische Bewegung des Anlenkpunktes entlang einer Bewegungsbahn am Ausleger erzeugbar ist. Dann ist der Zeitbedarf eines Anpassungsvorganges minimal, zum Beispiel bei einem Ausführungsbeispiel etwa 20 Sekunden.The winch device according to the invention preferably has a drive, via which a translational movement of the pivot point along a path of movement on the boom can be generated. Then the time required for an adjustment process is minimal, for example about 20 seconds in one embodiment.

Vorzugsweise ist der Antrieb direkt am Ausleger angeordnet.The drive is preferably arranged directly on the boom.

Bei einer bevorzugten Ausgestaltung des Antriebs weist dieser einen Verstell-Hydraulikzylinder auf, der einerseits an dem Ausleger und andererseits an einen Läufer gekoppelt ist, an dem auch der Anlenkpunkt gebildet ist.In a preferred embodiment of the drive, the latter has an adjusting hydraulic cylinder which is coupled on the one hand to the boom and on the other hand to a rotor on which the pivot point is also formed.

Wenn die erfindungsgemäße Windenvorrichtung einen Hauptabschnitt oder Hauptkörper hat, der an dem Schiff befestigt ist, wird die Achse von einem oberen Dreh- oder Schwenkgelenk zwischen dem Hauptabschnitt und dem Ausleger definiert, und das passive Kompensationssystem ist über ein unteres Schwenkgelenk mit dem Hauptabschnitt gelenkig verbunden.When the winch device according to the invention has a main section or main body which is fixed to the ship, the axis is defined by an upper pivot joint between the main section and the boom, and the passive compensation system is articulated to the main section via a lower pivot joint.

Bei einer bevorzugten Ausgestaltung ist die Bewegungsbahn des Anlenkpunktes kreisbogenförmig und hat einen Kreisbogen-Mittelpunkt etwa in dem unteren Schwenkgelenk. Damit kann das Stützmoment verändert werden, ohne die Dreh- oder Schwenkposition des Auslegers und damit die Höhe der Umlenkrolle und der Last zu verändern. Damit ist es möglich eine Anpassung des passiven Kompensationssystems an verschiedene Lasten und insbesondere eine Anpassung an erhöhte Lasten mit einem Energieeinsatz zu realisieren, der theoretisch Null ist, und der praktisch lediglich zur Überwindung von Reibungsverlusten ausreichen muss.In a preferred embodiment, the movement path of the pivot point is in the form of a circular arc and has a circular arc center approximately in the lower swivel joint. This allows the supporting moment to be changed without changing the torque or pivoting position of the jib and thus changing the height of the deflection pulley and the load. It is thus possible to adapt the passive compensation system to different loads and in particular to adapt it to increased loads with an energy input that is theoretically zero and which practically only has to be sufficient to overcome friction losses.

Vorrichtungstechnisch einfach ist es, wenn die Zylinder-Kolben-Kombination einerseits an den bewegbaren Anlenkpunkt und andererseits an das untere Schwenkgelenk gekoppelt ist. Dabei ist ein kompressibles Gas in dem Zylinder vorgesehen. Wenn der Zylinder mittels Stickstoff und vorzugsweise mittels eines Kolbenspeichers des passiven Kompensationssystems spannbar ist, ist das Risiko des Dieseling-Effektes vermieden. Dieser Effekt kann entstehen, wenn gemäß dem Stand der Technik Luft mit Öl z.B. aus Gründen von Undichtigkeiten unter Druck zusammenkommt.It is simple in terms of device technology if the cylinder-piston combination is coupled on the one hand to the movable articulation point and on the other hand to the lower swivel joint. A compressible gas is provided in the cylinder. If the cylinder can be tensioned by means of nitrogen and preferably by means of a piston accumulator of the passive compensation system, the risk of the diesel effect is avoided. This effect can arise when, according to the state of the art, air comes together with oil, for example due to leaks under pressure.

Vorrichtungstechnisch einfach ist es, wenn die Menge des Gases im passiven Kompensationssystem im Wesentlichen unverändert ist.It is simple in terms of device technology if the amount of gas in the passive compensation system is essentially unchanged.

Vorzugsweise ist eine Geometrie des Auslegers an eine Gaskurve angepasst. Damit wird ein linearer Verlauf der Hebekraft - quasi Federkraft - erreicht.A geometry of the boom is preferably adapted to a gas curve. This achieves a linear progression of the lifting force - quasi spring force.

Die Bewegungsbahn des Anlenkpunktes kann auch von der oben genannten Kreisbogenform abweichen. Allgemein wird die Bewegungsbahn optimiert mit Blick auf Änderungen der Gaskurve und mit Blick auf eine Minimierung der Einstellkräfte des Antriebs.The trajectory of the articulation point can also deviate from the circular arc shape mentioned above. In general, the trajectory is optimized with a view to changes in the gas curve and with a view to minimizing the adjustment forces of the drive.

Eine bevorzugte Weiterbildung der erfindungsgemäßen Windenvorrichtung hat ein zusätzliches aktives Kompensationssystem. Dann kann das passive Kompensationssystem im Wesentlichen die statische Last kompensieren, während das aktive Kompensationssystem im Wesentlichen die Bewegung des Schwimmkörpers - insbesondere des Schiffs - kompensiert. Das aktive Kompensationssystem kann auch eine ergänzende Kompensation der von dem passiven Kompensationssystem nicht gänzlich kompensierten Wellenbewegungen durchführen. Das aktive Kompensationssystem kann auch die aus der Gaskurve resultierenden Abweichungen kompensieren, insbesondere wenn diese nicht über die zuvor genannte Geometrie des Auslegers und/oder der Bewegungsbahn kompensiert werden. Bei einem Absetzvorgang der Last kann diese besonders schnell kompensiert werden.A preferred development of the winch device according to the invention has an additional active compensation system. Then the passive compensation system can essentially compensate for the static load, while the active compensation system essentially compensates for the movement of the floating body - in particular the ship. The active compensation system can also provide additional compensation for that of the passive compensation system perform fully compensated wave movements. The active compensation system can also compensate for the deviations resulting from the gas curve, in particular if these are not compensated for via the aforementioned geometry of the boom and/or the trajectory. When the load is set down, this can be compensated for particularly quickly.

Das zusätzliche aktive Kompensationssystem ist vorrichtungstechnisch unabhängig und modular nachrüstbar, wenn es einen Hydraulikzylinder aufweist.The additional active compensation system is independent of the device and can be retrofitted in a modular manner if it has a hydraulic cylinder.

Der Hydraulikzylinder des aktiven Kompensationssystems und die Zylinder-Kolben-Kombination des passiven Kompensationssystems und der Verstell-Hydraulikzylinder haben jeweils als wesentliche Komponenten ein Zylindergehäuse, einen Kolben und eine oder zwei Kolbenstangen.The hydraulic cylinder of the active compensation system and the cylinder-piston combination of the passive compensation system and the adjusting hydraulic cylinder each have a cylinder housing, a piston and one or two piston rods as essential components.

Der Hydraulikzylinder des aktiven Kompensationssystems kann zwischen dem Hauptabschnitt und dem Ausleger eingespannt sein. Dann werden auch die aktiven Kompensationsbewegungen über ein Verschwenken des Auslegers (Anheben und absenken der Umlenkrolle) erzeugt, so dass eine nicht kompensierte Winde verwendet werden kann.The hydraulic cylinder of the active compensation system can be clamped between the main section and the boom. The active compensation movements are then also generated by pivoting the boom (raising and lowering the deflection roller), so that a non-compensated winch can be used.

Wenn ein größerer Teil der Kompensation vom passiven Kompensationssystem und ein kleinerer Teil vom aktiven Kompensationssystem übernommen wird, ist der Energiebedarf des aktiven Kompensationssystems minimiert. Dem entsprechend kann der Hydraulikzylinder des aktiven Kompensationssystems kleiner als die Zylinder-Kolben-Kombination des passiven Kompensationssystems sein.If a larger part of the compensation is taken over by the passive compensation system and a smaller part by the active compensation system, the energy requirement of the active compensation system is minimized. Accordingly, the hydraulic cylinder of the active compensation system can be smaller than the cylinder-piston combination of the passive compensation system.

Dann kann der Hydraulikzylinder des aktiven Kompensationssystems Bauraum sparend zwischen der von dem Schwenk- oder Drehgelenk gebildeten Achse und der Zylinder-Kolben-Kombination des passiven Kompensationssystems angeordnet sein.The hydraulic cylinder of the active compensation system can then be arranged in a space-saving manner between the axis formed by the swivel or rotary joint and the cylinder-piston combination of the passive compensation system.

Insbesondere wenn die passive und die aktive heave-compensation über die Verschwenkung oder Verdrehung des Auslegers erfolgt, und so die Umlenkrolle vergleichsweise ortsfest gehalten wird, verringert sich die Walkarbeit, die das biegeschlaffe Zugmittel durch Hin- und Herbewegung ertragen muss. Dann kann als biegeschlaffes Zugmittel ein Kunststoffkabel oder ein Leichtgewichts-Glasfaserkabel (z.B. Dyneema) vorgesehen werden. Alternativ kann auch ein Stahlkabel verwendet werden.In particular, when the passive and the active heave compensation takes place via the pivoting or twisting of the cantilever, and so the deflection pulley comparatively is held stationary, the flexing work that has to endure the limp traction means by back and forth movement is reduced. A plastic cable or a light-weight glass fiber cable (eg Dyneema) can then be provided as a flexible traction device. Alternatively, a steel cable can also be used.

Zur Erhöhung der Hebekraft können auch mehrfache Umlenkrollen für das biegeschlaffe Zugmittel - ein so genannter Flaschenzug - vorgesehen werden.To increase the lifting force, multiple deflection rollers for the flexible traction means - a so-called pulley system - can also be provided.

Drei Ausführungsbeispiele einer erfindungsgemäßen Windenvorrichtung sind in den Zeichnungen dargestellt. Anhand der Figuren dieser Zeichnungen wird die Erfindung nun näher erläutert.Three exemplary embodiments of a winch device according to the invention are shown in the drawings. The invention will now be explained in more detail on the basis of the figures in these drawings.

Es zeigen

Figur 1
in einer schematischen Seitenansicht das erste Ausführungsbeispiel mit einem Schiff,
Figur 2
in einer schematischen perspektivischen Ansicht das zweite Ausführungsbeispiel und
Figur 3
in einer schematischen perspektivischen Ansicht das dritte Ausführungsbeispiel.
Show it
figure 1
in a schematic side view the first embodiment with a ship,
figure 2
in a schematic perspective view the second embodiment and
figure 3
in a schematic perspective view the third embodiment.

Figur 1 zeigt in einem Querschnitt einen Rumpf 1 eines Schiffes, an dessen Deck eine nicht kompensierte Winde 2 drehbar befestigt ist. Am Rand des Decks ist ein Hauptabschnitt 4 am Rumpf 1 befestigt, an dessen oberen Endabschnitt über ein oberes Drehgelenk 6 ein Ausleger 8 gelenkig angekoppelt ist. Das Drehgelenk 6 bildet damit eine Achse 10, die etwa horizontal und parallel zum Deck des Rumpfes 1 des Schiffes ist. figure 1 shows in a cross-section a hull 1 of a ship, on the deck of which a non-compensated winch 2 is rotatably attached. A main section 4 is fastened to the hull 1 at the edge of the deck, and a boom 8 is articulated to the upper end section of the main section via an upper rotary joint 6 . The swivel joint 6 thus forms an axis 10 which is approximately horizontal and parallel to the deck of the hull 1 of the ship.

Der Ausleger 8 erstreckt sich im Wesentlichen weg vom Rumpf 1 in Richtung zum offenen Wasser und hat an dem vom Rumpf 1 entfernten Endabschnitt und an einem zum Rumpf 1 gerichteten Endabschnitt jeweils eine Umlenkrolle 12, 18.The boom 8 extends essentially away from the hull 1 in the direction of the open water and has a deflection roller 12, 18 on the end section remote from the hull 1 and on an end section directed towards the hull 1.

Im Betrieb der Windenvorrichtung wird eine Last 14 über einen (nicht gezeigten) Antrieb der Winde 2 und über ein Glasfaserkabel 16 angehoben oder abgesenkt oder möglichst ruhig gehalten. Dabei ist ein Endabschnitt des Glasfaserkabels 16 an dem vom Rumpf 1 entfernten Endabschnitt des Auslegers 8 befestigt und verläuft von dort über eine Umlenkrolle 18, an der die Last 14 befestigt ist und die beiden Umlenkrollen 12, 18 des Auslegers 8 zur Winde 2.During operation of the winch device, a load 14 is raised or lowered or kept as still as possible via a drive (not shown) of the winch 2 and via a fiber optic cable 16 . One end section of the fiber optic cable 16 is attached to the end section of the boom 8 remote from the hull 1 and runs from there over a deflection roller 18, to which the load 14 is attached and the two deflection rollers 12, 18 of the boom 8 to the winch 2.

Figur 1 zeigt eine Zylinder-Kolben-Kombination 20 mit einem Differenzialzylinder und mit einer Kolbenstange, die über einen Anlenkpunkt 22 gelenkig mit dem Ausleger 8 verbunden ist, während der Differenzialzylinder über ein unteres Schwenkgelenk 24 mit einem unteren Bereich des Hauptabschnitts 4 gelenkig verbunden ist. Damit bildet die Zylinder-Kolben-Kombination 20 eine schräge Stütze für den Ausleger 8. Diese Stütze ist federnd, da ein Kolbenbodenraum des Differenzialzylinders über eine Leitung 26 mit einem Druckraum eines Hochdruck-Kolbenspeichers 28 verbunden und mit einer konstanten Menge Stickstoff gefüllt ist. figure 1 shows a cylinder-piston combination 20 with a differential cylinder and with a piston rod which is articulated to the boom 8 via a pivot point 22, while the differential cylinder is articulated to a lower region of the main section 4 via a lower pivot joint 24. The cylinder-piston combination 20 thus forms an inclined support for the boom 8. This support is resilient, since a piston head space of the differential cylinder is connected via a line 26 to a pressure space of a high-pressure piston accumulator 28 and is filled with a constant amount of nitrogen.

Damit ist die Kraft, die die Zylinder-Kolben-Kombination 20 entlang ihrer Kolbenstange auf den Anlenkpunkt 22 ausübt, von einer Gaskurve des Stickstoffs bestimmt. Die gesamte Kompensation des passiven Kompensationssystems wird darüber hinaus von einem Winkel zwischen der Zylinder-Kolben-Kombination 20 und dem Ausleger 8 und von einem Abstand des Anlenkpunktes 22 von der Achse 10 des Drehgelenks 6 bestimmt. Dieser Abstand ist erfindungsgemäß einstellbar. Genauer gesagt kann über einen translatorischen Antrieb 30 der Anlenkpunkt 22 entlang dem Ausleger 8 bewegt werden. Eine Bewegungsbahn und insbesondere deren Länge werden durch einen Doppelpfeil 32 symbolisiert.Thus, the force that the cylinder-piston combination 20 exerts along its piston rod on the pivot point 22 is determined by a gas curve of the nitrogen. The total compensation of the passive compensation system is also determined by an angle between the cylinder-piston combination 20 and the boom 8 and by a distance of the pivot point 22 from the axis 10 of the swivel joint 6 . This distance can be adjusted according to the invention. To put it more precisely, the pivot point 22 can be moved along the boom 8 via a translatory drive 30 . A movement path and in particular its length are symbolized by a double arrow 32 .

Bei Betätigung des Antriebs 30 wird der Anlenkpunkt 22 entlang dem Doppelpfeil 32 bewegt, wodurch das Stützmoment des passiven Kompensationssystems und damit die Hebekraft, die der Ausleger 8 über das Glasfaserkabel 16 auf die Last 14 überträgt, variiert werden.When the drive 30 is actuated, the pivot point 22 is moved along the double arrow 32, as a result of which the moment of support of the passive compensation system and thus the lifting force which the boom 8 transmits to the load 14 via the fiber optic cable 16 are varied.

In Ergänzung ist ein aktives Kompensationssystem vorgesehen, von dem in Figur 1 nur ein Hydraulikzylinder 34 dargestellt ist. Dieser ist beim gezeigten Ausführungsbeispiel als Gleichgangzylinder ausgeführt, der ebenfalls zwischen dem Ausleger 8 und dem Hauptabschnitt 4 eingespannt ist, wobei die entsprechenden Gelenke nicht verschiebbar sind. Der Hydraulikzylinder 34 kann über eine (nicht gezeigte) hydraulische Aktorik aktiv und vergleichsweise schnell eingezogen und ausgefahren werden. Der Hydraulikzylinder 34 des aktiven Kompensationssystems ist kleiner als die Zylinder-Kolben-Kombination 20 des passiven Kompensationssystems. Im Betrieb überträgt das passive Kompensationssystem ein größeres Stützmoment an den Ausleger 8, als das aktive Kompensationssystem.In addition, an active compensation system is planned, of which figure 1 only one hydraulic cylinder 34 is shown. In the exemplary embodiment shown, this is designed as a synchronous cylinder, which is also clamped between the boom 8 and the main section 4, with the corresponding joints not being displaceable. The hydraulic cylinder 34 can be retracted and extended actively and comparatively quickly via a hydraulic actuator (not shown). The hydraulic cylinder 34 of the active compensation system is smaller than the cylinder-piston combination 20 of the passive compensation system. In operation, the passive compensation system transmits a greater moment of support to the boom 8 than the active compensation system.

Figur 2 zeigt ein zweites Ausführungsbeispiel der erfindungsgemäßen Windenvorrichtung in einer perspektivischen Ansicht. Dabei wurden das biegeschlaffe Zugmittel und die Winde weggelassen. figure 2 shows a second embodiment of the winch device according to the invention in a perspective view. The limp traction mechanism and the winch were omitted.

Der an Deck des Rumpfes 1 befestigte Hauptabschnitt 4 und der daran über das obere Drehgelenk 6 gekoppelte Ausleger 8 mit den beiden Umlenkrollen 12, 18 entsprechen denjenigen des ersten Ausführungsbeispiels gemäß Figur 1. Ein auslegerseitiger Endabschnitt der Kolbenstange der Zylinder-Kolben-Kombination 20 des passiven Kompensationssystems ist zwischen zwei seitlich zueinander beabstandeten Abschnitten des Auslegers 8 über einen Läufer 36 entlang einer Bewegungsbahn 38 geführt.The main section 4 attached to the deck of the hull 1 and the boom 8 coupled thereto via the upper pivot joint 6 with the two deflection rollers 12, 18 correspond to those of the first exemplary embodiment according to FIG figure 1 . A boom-side end section of the piston rod of the cylinder-piston combination 20 of the passive compensation system is guided between two laterally spaced sections of the boom 8 via a runner 36 along a movement path 38 .

Die Bewegungsbahn 38 ist kreisbogenförmig. Der Kreisbogen der Bewegungsbahn 38 hat seinen Mittelpunkt im unteren Schwenkgelenk 24. Dadurch wird erreicht, dass der (in Figur 2 aus Gründen der Übersichtlichkeit nicht gezeigte Antrieb) wenig Kraft und Energie benötigt, um den Läufer 36 entlang der Bewegungsbahn 38 zu verstellen, womit das passive Kompensationssystem mit minimalem vorrichtungstechnischen Aufwand und Energiebedarf an unterschiedliche Lasten angepasst werden kann.The movement path 38 is in the form of a circular arc. The circular arc of the movement path 38 has its center in the lower swivel joint 24. This ensures that the (in figure 2 drive (not shown for reasons of clarity) requires little force and energy in order to adjust the runner 36 along the movement path 38, with which the passive compensation system can be adapted to different loads with minimal outlay in terms of device technology and energy requirements.

Abweichend vom in Figur 2 gezeigten zweiten Ausführungsbeispiel wird dort bevorzugt auch ein zusätzliches aktives Kompensationssystem vorgesehen.Deviating from the in figure 2 In the second exemplary embodiment shown, an additional active compensation system is preferably also provided there.

Abweichend von der Kreisbogenform kann die Bewegungsbahn auch andere Formen aufweisen, die für die Anwendung optimiert sind.Deviating from the shape of a circular arc, the movement path can also have other shapes that are optimized for the application.

Figur 3 zeigt in einer schematischen perspektivischen Ansicht die erfindungsgemäße Windenvorrichtung gemäß einem dritten Ausführungsbeispiel mit einer Bewegungsbahn 138, die bogenförmig und dabei nicht kreisbogenförmig ist. Der Ausleger 8 mit den beiden Umlenkrollen 12 und 18, der Hauptabschnitt 4, die Zylinder-Kolben-Kombination 20 des passiven Kompensationssystems, der Hydraulikzylinder 34 des aktiven Kompensationssystems und das Drehgelenk 6 mit der Achse 10 entsprechen denjenigen des ersten Ausführungsbeispiels aus Figur 1. figure 3 shows a schematic perspective view of the winch device according to the invention according to a third embodiment with a movement path 138 which is arcuate and not circular. The boom 8 with the two deflection rollers 12 and 18, the main section 4, the cylinder-piston combination 20 of the passive compensation system, the hydraulic cylinder 34 of the active compensation system and the swivel joint 6 with the axis 10 correspond to those of the first exemplary embodiment figure 1 .

Entlang der Bewegungsbahn 138 des Auslegers 8 ist ein Läufer 136 gemäß dem Doppelpfeil 132 verfahrbar. Der Läufer 136 hat an seiner Oberseite mehrere Rollen, auf denen der Ausleger 8, genauer gesagt seine Bewegungsbahn 138 aufliegt.A runner 136 can be moved along the movement path 138 of the boom 8 according to the double arrow 132 . The runner 136 has a number of rollers on its upper side, on which the boom 8, more precisely its movement path 138, rests.

Gemäß dem dritten Ausführungsbeispiel ist der Antrieb als Verstell-Hydraulikzylinder 130 ausgestaltet, dessen Zylindergehäuse gelenkig mit dem Ausleger 8 benachbart zur Achse 10 verbunden ist, und dessen Kolbenstange gelenkig mit dem Läufer 136 verbunden ist. Der Verstell-Hydraulikzylinder 130 ist etwa parallel zum Ausleger 8 angeordnet.According to the third exemplary embodiment, the drive is designed as an adjusting hydraulic cylinder 130 whose cylinder housing is articulated to the boom 8 adjacent to the axis 10 and whose piston rod is articulated to the runner 136 . The adjusting hydraulic cylinder 130 is arranged approximately parallel to the boom 8 .

Über den Anlenkpunkt 22 sind die Kolbenstange des Verstell-Hydraulikzylinders 130 und der Zylinder-Kolben-Kombination 20 des passiven Kompensationssystems mit dem Läufer 136 verbunden.The piston rod of the adjusting hydraulic cylinder 130 and the cylinder-piston combination 20 of the passive compensation system are connected to the rotor 136 via the pivot point 22 .

Mit den erfindungsgemäßen Windenvorrichtungen können Lasten 14 mit einem Gewicht von z.B. 150 t in einer Wassertiefe von z.B. 2500 m gehalten werden. Dabei wiegt das Glasfaserkabel z.B. weitere 60 t.With the winch devices according to the invention, loads 14 with a weight of, for example, 150 t can be held in a water depth of, for example, 2500 m. The fiber optic cable weighs another 60 t, for example.

Offenbart ist eine Windenvorrichtung mit einem heave-compensating-System, das passiv ist und eine fixe Menge kompressibles Gas hat. Ein Verstellung oder Einstellung des Systems erfolgt über eine Änderung eines Stützmomentes an einem schwenkbaren Auslegerarm. Dazu kann eine Stelle, an der die Stützkraft in den Ausleger eingeleitet wird, entlang dem Ausleger verschoben werden.A winch device with a heave-compensating system that is passive and has a fixed amount of compressible gas is disclosed. The system is adjusted or set by changing a support torque on a pivotable extension arm. For this purpose, a point at which the supporting force is introduced into the boom can be shifted along the boom.

BezugszeichenlisteReference List

11
Rumpfhull
22
Windewinch
44
Hauptabschnittmain section
66
Drehgelenkswivel joint
88th
Auslegerboom
1010
Achseaxis
1212
Umlenkrollepulley
1414
Lastload
1616
Glasfaserkabelfiber optic cable
1818
Umlenkrollepulley
2020
Zylinder-Kolben-KombinationCylinder-piston combination
2222
Anlenkpunktpivot point
2424
unteres Schwenkgelenklower swivel joint
2626
LeitungManagement
2828
Kolbenspeicherpiston accumulator
3030
Antriebdrive
32; 13232; 132
Doppelpfeildouble arrow
3434
Hydraulikzylinderhydraulic cylinder
36; 13636; 136
Läuferrunner
38; 13838; 138
Bewegungsbahntrajectory
130130
Verstell-HydraulikzylinderAdjustable hydraulic cylinder

Claims (15)

  1. Winch device having a cantilever arm (8) on which at least one deflection roller (12) for a flexible traction means is arranged, wherein the cantilever arm (8) is pivotable or rotatable about an axis (10), wherein the cantilever arm (8) is supported or braced by a passive compensation system for heave compensation, characterized in that a distance between an articulation point (22) of the compensation system on the cantilever arm (8) and the axis (10) is variable.
  2. Winch device according to Claim 1, having a drive (30; 130) via which a movement of the articulation point (22) in translation along a movement path (38; 138) of the cantilever arm (8) is able to be generated.
  3. Winch device according to Claim 2, wherein the drive is an adjusting hydraulic cylinder (130).
  4. Winch device according to one of the preceding claims, having a main portion (4), wherein the axis (10) is defined by an upper pivot joint or rotary joint (6) between the main portion (4) and the cantilever arm (8), and wherein the passive compensation system is connected in an articulated manner to the main portion (4) via a lower pivot joint (24).
  5. Winch device according to Claims 2 and 4, wherein the movement path (38) of the articulation point (22) is in the form of a circular arc and has a central point approximately at the lower pivot joint (24) .
  6. Winch device according to Claim 4 or 5, wherein the passive compensation system has a gas-filled piston/cylinder combination (20) which is coupled to the movable articulation point (22) on one side and to the lower pivot joint (24) on the other.
  7. Winch device according to Claim 6, wherein the piston/cylinder combination (20) is able to be tensioned by means of a piston accumulator (28) filled with the gas.
  8. Winch device according to Claim 7, wherein the quantity of gas in the piston accumulator (28) is substantially unchanged.
  9. Winch device according to one of Claims 6 to 8, wherein a geometry of the cantilever arm (8) or of the movement path (138) is adapted to a gas curve.
  10. Winch device according to one of the preceding claims, having an additional active compensation system.
  11. Winch device according to Claim 10, wherein the active compensation system has a hydraulic cylinder (34) .
  12. Winch device according to Claims 4 and 11, wherein the hydraulic cylinder (34) is fixed between the main portion (4) and the cantilever arm (8).
  13. Winch device according to Claim 11 or 12, wherein the hydraulic cylinder (34) is smaller than the piston/cylinder combination (20).
  14. Winch device according to Claim 13, wherein the hydraulic cylinder (34) is arranged between the axis (10) and the piston/cylinder combination (20).
  15. Winch device according to one of the preceding claims, wherein the flexible traction means is a plastics cable or a glass-fibre cable (16).
EP17170536.1A 2016-06-01 2017-05-11 Winching device Active EP3252001B1 (en)

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CN108565072B (en) * 2018-03-01 2024-01-26 长春振宇机电成套有限公司 Automatic compensation system for tension position of four-axis stranding machine
CN108832782B (en) * 2018-06-27 2020-02-07 河南瑞发电气集团有限公司 Forming device and forming method for special-shaped wind power stator coil

Citations (1)

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Publication number Priority date Publication date Assignee Title
US4021019A (en) * 1975-03-24 1977-05-03 British Columbia Research Council Heave compensating cranes

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DE142878C (en) *
WO2016089207A1 (en) * 2014-12-05 2016-06-09 H. Schinkel Holding B.V. A motion compensation device
DK3436392T3 (en) * 2016-03-31 2021-05-25 Nhlo Holding B V DECORATION WITH A ROTARY ARM AND A CONFIGURABLE SPRING

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4021019A (en) * 1975-03-24 1977-05-03 British Columbia Research Council Heave compensating cranes

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