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WO2015080584A1 - Système de compensation de mouvement, dispositif de levage, structure marine flottante, structure marine fixe - Google Patents

Système de compensation de mouvement, dispositif de levage, structure marine flottante, structure marine fixe Download PDF

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Publication number
WO2015080584A1
WO2015080584A1 PCT/NL2014/050812 NL2014050812W WO2015080584A1 WO 2015080584 A1 WO2015080584 A1 WO 2015080584A1 NL 2014050812 W NL2014050812 W NL 2014050812W WO 2015080584 A1 WO2015080584 A1 WO 2015080584A1
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WO
WIPO (PCT)
Prior art keywords
motion compensation
linkage mechanism
hoisting
compensation system
linkage
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/NL2014/050812
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English (en)
Inventor
Naxin ZHANG
Johan Albert Commandeur
Wilhelmus Coenradus Johannes Jozephus Woldring
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GustoMSC BV
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GustoMSC Resources BV
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Filing date
Publication date
Application filed by GustoMSC Resources BV filed Critical GustoMSC Resources BV
Publication of WO2015080584A1 publication Critical patent/WO2015080584A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack

Definitions

  • the invention relates to a motion compensation device.
  • Motion compensation devices are known and are typically applied for compensation of relative motion between a fixed and a moving structure and/or between two moving structures.
  • relative motions occur during offshore operations, for example when lifting or lowering a load from a floating marine structure to a fixed marine structure and vice versa, or for example when lifting or lowering a load from one floating marine structure to another floating marine structure.
  • at least one of the structures is moving, usually under influence of environmental conditions, such as wind, waves, swell etc, causing relative motions between the two structures.
  • Relative motions are also present during for example a drilling operation from a floating marine structure.
  • the drilling string is to be lowered and controlled with respect to the fixed sea bottom.
  • Relative vertical motions occur between the floating drilling structure moving e.g. due to waves or swell.
  • the relative motions may impart the lowering of the load onto the platform.
  • the relative motions between the vessel and the platform may make the lowering of the load onto the feeder vessel difficult.
  • Relative motions may also occur for example during dredging operations, wherein the floating dredging vessel moves with respect to the fixed sea bottom during the dredging operation.
  • the relative motions in particular the vertical relative motions, also called the heave motions, restrict the offshore operations. It is known to provide a heave compensator, drilling string compensator or dredging compensator to reduce the relative motions during the operations, in particular to reduce the relative motions of an end of the operational device, such as the lifting hook of a hoisting device or the dredging head of the dredging vessel or the drilling head of a drilling string of a drilling vessel.
  • a conventional heave compensator comprises usually an active part and a passive part, both parts are arranged as hydraulic cylinders, either integrated or provided as separate units.
  • the passive part provides for storing and retrieving most of the energy during compensating of the heave motions.
  • the active part is required for system losses, non-linearity, load variations and/or load control.
  • the active part typically is activated by a motion reference unit which detects the relative motions and controls the active part based on the detected relative motions to control the elevation of the end of the operational device. Per most industry practices, the
  • the active part may provide about 20% of the compensational energy, while the passive part may provide for about 80% of the compensational energy.
  • the conventional heave compensation system is integrated in the loop of the hoist reeving of a hoisting device. By extending and/or retracting of the cylinders, the elevation of the lifting hook of the hoisting device is controlled.
  • a drawback of this conventional hydraulic cylinder heave compensation system is that it is a rather heavy and bulky system that is integrated in the hoist reeving. To install such a system the existing reeving needs to be demounted first and then re-reeved through the new system. Once it is installed it is thus difficult to remove. Since it is integrated within the hoist reeving system, it is also subject to very large force, namely the hoisting forces or a portion of that depending on the reeving. The conventional heave compensation system becomes relatively massive and complex when subjected to relatively heavy loads and/or relatively large heave motions. Sometimes it is difficult to allocate sufficient space on the lifting device to install such a conventional system.
  • Another drawback is that the pressure of the passive hydraulic cylinder may to be set according to the load. To make an adjustment of the pressure takes normally considerable time and could reduce the operational availability of e.g. the hoisting device. In particular for offshore operations for which repetitive adjustment of the load weight occurs, such as wind turbine installations, this adjustment of the passive part can significantly increase the installation time.
  • the active hydraulic cylinder part may require significant power and/or a cooling system.
  • the invention provides for a motion compensation system according to claim 1.
  • the motion compensation system can be easily mountable and removable to a lifting device, such as a crane or a drilling lifting device or a dredging lifting device.
  • a lifting device such as a crane or a drilling lifting device or a dredging lifting device.
  • the motion compensation system may be removed from the lifting device if it is not required for a special job, or to be temporarily used on another lifting device. Once required, the motion compensation system can be installed back to the lifting device. So, a motion compensation system according to the invention is more suitable to be installed onto a lifting device as part of a refitting or upgrading program for the lifting device, since it requires no re-reeving and less modification works.
  • the motion compensation system can also be put onto a lifting device when required.
  • a single motion compensation system can be used on more than one lifting device sequentially.
  • the motion compensation system according to the invention is separate from the hoisting rope and is not integrated in the hoist reeving as the prior art systems are. Since the motion compensation system according to the invention is separate from hoist reeving, it may be subject to less loading than the conventional integrated system. For example, it may receive theoretically none or a relatively small part of the hoist reeving load, so the motion compensation system according to the invention may be lighter and/or more compact.
  • the lifting gear By imparting displacement to the hoisting rope in a direction substantially transverse to the rope main loading direction, the lifting gear is moved as well. By imparting the transverse displacement, it may be sufficient to impart a relatively small movement to induce sufficient displacement of the lifting gear to compensate for at least part of the relative motions.
  • the displacement By providing a substantially transverse displacement, i.e. transverse to the rope main loading direction, the displacement can be relatively limited, while obtaining sufficient compensation of the relative motion.
  • the motion compensation system may be more modular and/or more versatile as it is not integrated in the hoist reeving, also, it can be more easily wholly or partly coupled or de-coupled to the hoist reeving. Possibly, since only relative small displacements may be induced, the system may be lighter and/or more compact than a conventional in-line integrated motion compensation system.
  • Inducing a displacement in a direction substantially transverse is understood to be a displacement in a direction between about 45 degrees and about 135 degrees with respect to the rope main loading direction. This is contrary to the prior art devices that induce movement of the hoisting rope in line with the rope main loading direction.
  • a direction between about 70 degrees and about 130 degrees, more preferably between about 60 degrees and about 120 degrees with respect to the rope main loading direction may be obtained.
  • An optimal movement would be in a direction about or approximately 90 degrees with respect to the rope main loading direction, whereas in practice this angle may deviate, ⁇ 40 degrees or ⁇ 30 degrees or ⁇ 20 degrees or ⁇ 10 degrees, depending on the actual configuration and/or built-in situation.
  • a rope main loading direction may be considered to be the main direction of the hoisting rope section comprising the linkage mechanism connection between adjacent reeving elements, such as pulleys or sheaves etc., i.e. the direction from one reeving element to a next reeving element.
  • the linkage mechanism connection is at a hoisting rope section parallel to a boom of the lifting device with a pulley near one end of the boom and another pulley near an opposite end of the boom, then the rope main loading direction there may be parallel to the boom.
  • the linkage mechanism connection is at the hoisting rope section between the upper hoisting block and the lifting hook as lifting gear, then the rope main loading direction may be the direction from the hoisting block to the lifting hook, which may be approximately vertical.
  • linkage mechanism connection is considered to be a physical connection at the position where the linkage mechanism is connected to or coupled to the hoisting rope.
  • the linkage mechanism connection may be established by a pulley or by a wheel or by a sheave, etc.
  • the motion compensation system Since the motion compensation system is independent from the reeving system of the lifting device, the motion compensation system can be provided lighter and less complex. Maintenance of such a system is also easier. In theory, the motion compensation system does not receive the lifting load in addition to the relative motions, since the lifting load, in theory, passes to the existing hoist reeving system.
  • the linkage mechanism can be connected to the hoisting rope at various positions. The actual connection between the linkage mechanism and the hoisting rope is referred to as the linkage mechanism connection.
  • the heave compensation system may be arranged on or near the boom, and the linkage mechanism may be a linkage frame such as a lever or an arm or a multi-bar linkage frame that is arranged for connection to the hoisting rope.
  • the linkage mechanism Upon actuation of the actuation mechanism, the linkage mechanism is operated by the actuation mechanism to move the hoisting rope in a direction mainly transverse to the rope main loading direction of the section of the hoisting rope to which the linkage mechanism is connected.
  • the connected lifting gear such as a lifting hook, is moved vertically as well and thus relative motion may be compensated.
  • the linkage mechanism may be connected to the section of the hoisting rope, with increased number of falls if necessary, running from the hoisting winch to the top of an A- frame of the lifting device, the lifting device then may run mainly vertical while the linkage mechanism may induce mainly horizontal movement of the hoisting rope which movement leads to movement of the hfting gear e.g. a hfting hook at the end of the hoisting rope.
  • the linkage mechanism such as a linkage frame may be a lever arm that at one end is connected to the hoisting rope and at another end is connected to the actuation mechanism.
  • a wire rope is provided to couple the actuation mechanism to the linkage mechanism.
  • the actuation mechanism can be positioned remote from the linkage mechanism, e.g. the actuation mechanism may be positioned on the slewing platform and the linkage mechanism may be positioned to connect to the hoisting rope near the end of boom with the wire rope coupling the actuation mechanism with the linkage mechanism.
  • the actuation mechanism can be mounted near the linkage mechanism, in view of compactness, or can be installed e.g. on the slewing platform or elsewhere on the hoisting device where there is space available.
  • the force on the linkage frame and thus the hoisting rope can be altered with respect to the actuation force of the actuation mechanism. Also, it may make it easier to remove at least a part of the motion compensation system, e.g. removing the wire ropes and the linkage mechanism to use elsewhere.
  • the actuation mechanism can be an active winch or a hydraulic or pneumatic cylinder etc.
  • the actuation mechanism may be any type of actuator suitable for moving the linkage mechanism, for example by inducing shortening or lengthening of the wire rope, e.g. by spooling in or spooling out of the wire rope.
  • shortening or lengthening of the wire rope By shortening or lengthening of the wire rope, the linkage mechanism connection of the linkage frame with the hoisting rope is being displaced in a direction mainly transverse to the rope main loading direction.
  • the linkage mechanism may be a multi- bar frame, having at least four bars or more.
  • the four bars of the linkage frame are hingedly connected to each other, such that the
  • a four-bar linkage frame is by moving one of the hinge corners, at least two other hinge corners move as well.
  • the two other corners may move in opposite direction with respect to each other and in transverse direction with respect to the corner that is being moved.
  • the four-bar linkage frame is mounted between two more or less parallel falls of a multi-fall reeving system, such that two opposite hinge corners connect to two sides of the multi-fall reeving system.
  • each of the parallel falls may be a fall string itself comprising multiple falls as well.
  • the multi-bar linkage frame typically is a spatial structure to connect to each of the falls of the fall string at one side, e.g. comprising multiple pulleys or sheaves, and also to connect to each of the falls of the fall string at the opposite side, e.g. comprising multiple pulleys or sheaves.
  • the four-bar linkage frame can connect between two sides of falls of the multi-fall hoisting ropes, e.g. for the section of the hoisting rope between an upper hoisting block and a lower hoisting block with a lifting gear such as a lifting hook.
  • This section of the hoisting rope may be of multi -falls mainly running vertically.
  • the rope main loading direction for this section may thus be the vertical direction.
  • the four-bar linkage frame may be positioned between two sides of hoisting ropes, one corner may be connected to the lifting device, two opposite corners may be connected to the respective hoisting ropes and one corner is free. The free corner may be moved in vertical direction e.g.
  • the hoisting rope by means of the wire rope, thus inducing a transverse movement, i.e. substantially in horizontal direction, of the opposite corners connected to the hoisting rope such that at the connection with the linkage frame, the hoisting rope is displaced in a direction transverse, e.g. approximately horizontal, to the rope main loading direction, e.g. approximately vertical.
  • the imparted movement on the hoisting rope may deviate somewhat from the transverse direction, depending on the actual configuration and/or built-in situation, for example when not all four bars are equal in length. A deviation of ⁇ 20 or ⁇ 30 or ⁇ 40 degrees may thus be possible.
  • the control system of the actuation mechanism is connected to a motion reference unit.
  • the motion reference unit is known in the art and is a measurement unit receiving signals from motion detectors and calculating the required relative motions. Based on the motions, the control system gives a control signal to the actuation mechanism to provide for a controlled movement of the linkage mechanism. For example, when the actuation mechanism is a winch, the relative motion is used to determine the amount of wire rope to be spooled in and/or out. For example, when the actuation mechanism is a hydraulic cylinder, the relative motion is used to determine the amount of extension or retraction of the cylinder.
  • the motion compensation system further comprises a passive part for storing and retrieving energy during lifting and/or lowering, in addition to the active part.
  • the active part may be actively controlled, such as a hydraulic cylinder, or a pneumatic cylinder etc.
  • Such passive part can be of a mechanical spring, a compressed gas, or a raised ballast weight containing potential energy.
  • the passive part may be a ballast weight that may be movable up and down.
  • the passive part may be part of the reeving system as is the passive hydraulic cylinder in a conventional heave compensator.
  • the passive part may also be separate from the reeving system and may be part of the wire rope system according to the invention. It is noted that the passive part movable up and down can be considered as an invention on its own.
  • the ballast weight is movable up and down along guide rails that can be mounted on the lifting device.
  • the guide rails can also be mounted at a different position, for example next to the lifting device.
  • the ballast weight has an adjustable weight depending on the load to be lifted or to be lowered.
  • the ballast weight can be a water tank. Such a water tank can be easily emptied and/or filled to adapt the weight of the ballast weight to the load.
  • the ballast weight can comprise blocks of concrete assembled in a modular way, such that by removing and/or adding one or more concrete blocks the weight can be adjusted.
  • the hydraulic system as in the conventional heave compensation system, containing active part and passive part, can be used to provide the actuation force to the linkage mechanism.
  • the passive part can be locked for decoupling the passive part from the motion compensation system which can be advantageous for approaching a load with an empty lifting hook or other types of lifting gear.
  • Providing a raised ballast weight as passive part of the actuation mechanism may be considered to be an invention on its own.
  • the invention further relates to a lifting device comprising a motion compensation system.
  • the lifting device can be equipped with a motion compensation system when required. After use, the motion compensation system, or at least a part thereof, can be removed from the lifting device e.g. to be used on another lifting device. The motion compensation system, or at least a part thereof, is thus removable mounted on the lifting device.
  • the invention further relates to fixed or floating marine structures comprising a lifting device with a motion compensation system according to the invention.
  • the fixed or floating marine structure can be used for offshore lifting or dredging or drilling or subsea mining, etc.
  • the fixed or floating marine structure can be a vessel, or a barge, or a jack-up, or a semi-submersible, or a pontoon, or a platform, etc. Many variants are possible.
  • Figure lb shows a schematic representation of the lifting device of
  • Figure la comprising an at least partly multi-fall reeving system
  • Figure 2a shows a schematic representation of a lifting device comprising a second embodiment of a motion compensation system
  • Figure 2b shows a schematic representation of the lifting device of Figure 2a comprising an at least partly multi-fall reeving system
  • Figure 3 shows a schematic representation of a lifting device comprising a third embodiment of a motion compensation system according to the invention with an actuation mechanism, an additional wire rope and a linkage mechanism;
  • Figure 4 shows a schematic representation of a lifting device comprising a fourth embodiment of a motion compensation system according to the invention with an actuation mechanism, an additional wire rope and a linkage mechanism;
  • Figure 5 shows a schematic representation of the principle of the motion compensation system according to the invention for a multi-fall reeving system
  • Figure 6 shows a schematic representation of a lifting device comprising a fifth embodiment of a motion compensation system according to the invention with an actuation mechanism, an additional wire rope and a linkage mechanism;
  • Figure 7 shows a schematic representation of a hfting device comprising a sixth embodiment of a motion compensation system according to the invention with an actuation mechanism, an additional wire rope and a hnkage mechanism with a raised ballast weight as passive part;
  • Figure 8 shows a schematic representation of a hfting device comprising a seventh embodiment of a motion compensation system according to the invention with an actuation mechanism, an additional wire rope and a linkage mechanism with a raised ballast weight as passive part;
  • Figure 9 shows a schematic representation of a hfting device comprising an eighth embodiment of a motion compensation system according to the invention with an actuation mechanism, an additional wire rope and a linkage frame with a passive part and with an additional hook- up configuration;
  • Figure 10 shows a schematic perspective view of an embodiment of a hnkage mechanism according to the invention mounted to a multi-fall reeving system.
  • FIG. la shows a schematic representation of a marine structure 1 provided with a lifting device 2, here a crane, with a base platform 2a mounted on a deck la of the marine structure 1 via a foundation structure 2b.
  • the hfting device 2 is used for lifting and/or lowering a load 20 to and/or from another marine structure, not shown here.
  • the base platform 2a is a part of the lifting device 2 and provides spaces for various equipment required by the lifting device 2. For a revolving crane this platform 2a may be called the slewing platform.
  • the marine structure 1 here comprises the deck la supported by legs lb.
  • the marine structure 1 is here shown as a fixed structure being installed in a water environment with water surface lc, but can be a floating structure as well.
  • the other marine structure to or from which the load is brought, not shown here, can be a floating marine structure such as a vessel or a barge or a SPAR or a TLP or a semi-sub, or a fixed marine structure such as a jack up or a platform. .
  • the lifting device 2 is provided with a reeving system 3 arranged along the lifting device 2 between a hoisting winch 5 and a lifting gear 6.
  • the reeving system 3 comprises at least one hoisting rope 4 running between the hoisting winch 5 and the lifting gear 6.
  • the lifting gear 6 is here embodied as a lifting hook 6 to connect to a load 20.
  • the lifting gear 6 can also be provided as a member to connect to drilling strings or dredging strings.
  • the load 20 can be attached to the lifting gear 6 to be lifted and/or lowered.
  • the hoisting winch 5 spools in and/or out the hoisting rope to lift and/or lower the lifting gear 6.
  • the hoisting rope 4 is guided along the lifting device 2 via well-known pulleys, not shown in the schematic drawings.
  • the hoisting rope 4 can comprise multiple, parallel ropes, well known by the person skilled in the art. For simplicity's sake, the hoisting rope 4 in the drawings is presented as a single rope, but multiple parallel ropes may be understood to be applicable as well.
  • the hoisting device 2 comprises an arm 7, such as a boom jib, to which one or more hoisting blocks 8 are attached.
  • a hoisting block attached to the arm 7, is referred to as an upper hoisting block 8.
  • a lower hoisting block 9, with the lifting gear 6, is provided and between the upper hoisting block 8 and the lower hoisting block 9, the hoisting rope 4 is provided.
  • the hoisting rope 4 can be provided as a single fall hoisting rope between the upper hoisting block 8 and the lower hoisting block 9, or as a multi-fall hoisting rope. These configurations are known in the art of lifting devices.
  • one marine structure When lifting and/or lowering a load from a fixed marine structure to a floating marine structure or vice versa, or between two floating marine structures, one marine structure is moving with respect to the other marine structure, e.g. due to environmental influences such as waves or swell and there is relative motion between the two marine structures and thus between the load and the target marine structure.
  • These relative motions in particular the relative vertical motions, also called heave motions, such as wave induced motions, may restrict the hoisting operation and may make the hoisting operation more difficult and/or more complex.
  • a motion compensation system 10 is provided.
  • the motion compensation system 10 is here mounted to the lifting device 2.
  • the motion compensation system 10 can be removable mountable to the lifting device 2, or can be fixedly mountable to the lifting device 2.
  • the motion compensation system 10 can be mounted to the lifting device 2 during on-site activities, but can be removed and stored during transport to/from the offshore site, e.g. during transport from yard to/from offshore site or during transport between subsequent offshore sites.
  • the motion compensation system 10 may be used for one operation on a first lifting device and for another operation on a second lifting device.
  • the motion compensation system 10 or at least a part thereof is removable mountable on the respective lifting device.
  • the motion compensation system 10 comprises an actuation mechanism 11 and a linkage mechanism 12 couplable to the actuation mechanism 11.
  • the linkage mechanism 12 is connected to the actuation mechanism 11 at a first end 12a and to the hoisting rope 4 at an opposite second end 12b. Where the end 12b connects to the hoisting rope 4, a linkage mechanism connection 13 is obtained.
  • the linkage mechanism 12 is here embodied as an arm 12 between the first end 12a and the second end 12b.
  • the actuation mechanism 11 is separate from the hoisting winch 5 and only imparts movement of the linkage frame 12.
  • the hoisting rope 4 is moved locally, at the linkage mechanism connection 13 with the linkage frame end 12b, preferably in a direction at least partly transverse to a rope main loading direction H.
  • the rope main loading direction H is understood to be the main direction along which the hoisting rope 4 is reeved at a section 21 of the reeving system 3 containing the linkage mechanism connection 13.
  • the hoisting rope 4 By imparting a, relative small, displacement in a direction at least partly transverse to the rope main loading direction H, the hoisting rope 4, the lower hoisting block 9 is being moved up or downwards in reaction to and/or in anticipation of relative motions.
  • the actuation mechanism 11 can be smaller than the hoisting winch 5. Since the actuation mechanism 11 only needs to impart movement of the hoisting rope 4 and does not need to overcome the lifting force to move the lower hoisting block, as in
  • the actuation mechanism 11 comprises an active part 11a and a passive part l ib.
  • the passive part is arranged for storing and retrieving energy during hoisting and/or lowering, while the active part is arranged for imparting the active motion on the hoisting rope 4.
  • a passive part instead of compensating the relative motion fully in an active way, a part of the relative motion can be compensated in a passive way, thereby rendering the required active energy smaller and thus the active part smaller.
  • the active part and the passive part are typically coupled to each other. Actuation mechanisms comprising an active part and a passive part are well-known by the person skilled in the art.
  • such an actuation mechanism may comprise a hydraulic cylinder as active part 11a and a gas accumulator l ib as passive part, as schematically represented in Figure la.
  • a piston rod of the hydraulic cylinder extends, a passive oil compartment is moved thereby reducing the total passive gas volume, which in turn increases the force acting on the piston, and vice versa.
  • An hydraulic actuation mechanism 11 may be similar to a conventional hydraulic motion compensator system, albeit, according to the invention, it is separate from the hoisting reeving and not integrated with the hoisting reeving and thus can be smaller than the hoisting winch.
  • the actuation mechanism 11 is understood to comprise an active part 11a with or without a passive part l ib.
  • the actuation mechanism 11 is arranged at or on a platform associated with the lifting device 2.
  • the actuation mechanism 11 is preferably mounted onto a mounting surface 2a such as a slewing platform or a main winch platform or any other platform away from the boom.
  • the actuation mechanism 11 can be mounted on a hoisting arm, such as a boom 7, which is possible when the complete motion compensation system 10 is sufficiently compact with respect to dimensions and weight that it fits onto the boom.
  • mounting the cylinders on the crane arm, e.g. the boom, and using then lines via the boom to another location where e.g. the passive part, such as a gas accumulator is positioned may also be possible.
  • the lines may be hydraulic lines when using a gas accumulator as passive part.
  • the active part is controlled by a motion reference unit.
  • the motion reference unit detects the relative motions and/or receives input from detection means regarding the relative motions.
  • the motion reference unit further determines the actuation force and/or actuation motion required to compensate at least some of the relative motion.
  • the linkage mechanism 12 is embodied as an arm 12 between the first end 12a and the second end 12b.
  • the arm 12 moves and displaces the linkage mechanism connection 13 in a direction transverse to the rope main loading direction H.
  • the rope main loading direction H is the direction of the section 21 of the reeving system 3 containing the hnkage mechanism connection 13.
  • Figure la and Figure 2a may require substantial displacement at the linkage mechanism connection 13 in case the reeving system 4 contains multiple falls.
  • the section 21 of the reeving system 3 containing the hnkage mechanism connection 13 can be made as a multi-fall section.
  • Figure lb and Figure 2b provide examples of such a multi-fall section 21.
  • the hnkage mechanism 12 of the motion compensation system 10 is here schematically represented as an arrow R indicating the direction of the displacement to be imparted in a direction transverse to the main hoisting rope direction H of the section 21.
  • the motion compensation system 10 further comprises a wire rope 14 that, in use, connects the actuation mechanism 11 with the linkage mechanism 12, here an arm 12.
  • the first end 12a of the linkage frame 12 connects to the wire rope 14, while the second end 12b of the hnkage frame 12 connects to the hoisting rope 4 to move the hoisting rope 4 locally at the hnkage mechanism connection 13 in a direction at least partly transverse to the main hoisting rope direction H.
  • the wire rope 14 is independent of the reeving system 3.
  • the linkage frame 12 can be a single bar frame, such as the arm as for example shown in Figures 1 - 4.
  • the bar can be a straight bar or a curved bar or an angled bar, many variants are possible.
  • the bar frame may act as a lever frame when mounted to the wire rope 13 at the first end 12a and to the hoisting rope 4 at the second end 12b.
  • the bar frame 12 may be connected to the hoisting rope 4 at any position of the hoisting reeving.
  • the linkage frame 12 is connected to the hoisting rope 4 at the part 4a of the hoisting rope between the upper hoisting block 8 and the lower hoisting block 9, the general principle of which is shown in Figure 5.
  • Figure 5 does not show the linkage frame, but the linkage frame is schematically represented with arrows R.
  • the linkage frame R can advantageously be mounted in between approximately parallel falls 4al, 4a2 of the multi-fall hoisting rope section 4a.
  • the linkage mechanism is schematically drawn as an arrow R showing the direction of the displacement to be imparted on the linkage mechanism connections 13, more or less transverse to the main -loading direction H.
  • the main loading direction H is the intended hoisting direction of the hoisting rope 4 at the section 21 containing the linkage mechanism connections 13.
  • the section 21 of the reeving system 3 is the same as the multi-fall section 4a of the reeving system 3 connecting to the lifting gear 6.
  • the main loading direction H is the direction between the upper hoisting block 8 and the lower hoisting block 9, i.e. in vertical direction.
  • the displacement to be imparted in the direction R is therefore in horizontal direction.
  • the linkage mechanism can be for example a T-bar frame, not shown in the figures, of which one end is connected to the wire rope 14 and both other ends of the T-bar frame are connected to the falls 4al and 4a2 respectively providing the linkage frame connection.
  • the ends of such a T- bar frame providing the linkage frame connection move the falls 4a 1 and 4a2 apart from each other at the linkage frame connection and are preferably pivoting with respect to each other.
  • both other ends may move to and/or from each other thereby moving the linkage frame connections to and/or from each other as well, thus imposing an up and/down movement on the lower hoisting block 9 to compensate at least part of the relative motions.
  • the linkage frame 12 may be a four bar linkage frame.
  • the four bar linkage frame 12 is, in use, mounted between the falls 4al, 4a2 of the multi-fall section 4a of the hoisting rope 4 between the upper hoisting block 8 and the lower hoisting block 9.
  • the four bar linkage frame 12 comprises four bars that are hingedly connected to each other, thus providing four corners as hinge joints.
  • the linkage frame 12 is shown located near the upper hoisting block 8, but alternatively, the linkage frame 12 can be located near the lower hoisting block 9 as well.
  • the geometry of the four bar linkage frame 12 resembles here a diamond shape having four corners 12a, 12bl, 12b2 and 12c and four bars 16a, 16b, 16c, 16 d which are hingedly connected with respect to each other.
  • the four corners 12a, 12b 1, 12b2, 12c are arranged as a hinge between adjacent bars. It is advantageous to have the four bars 16a, 16b, 16c, 16d approximately the same length, in which the actuation force at corner 12a is almost constant when it moves up and down. Other variants having the four bars different lengths or pair wise approximately the same lengths are also possible.
  • the linkage frame 12 is connected via the wire rope 14 with the actuation mechanism 11.
  • the first end 12a of the linkage frame 12 is connected to the wire rope 14, while other ends, the corners 12b 1 and 12b2 are connected to the hoisting rope 4 and form the linkage frame connections 13al and 13a2 respectively.
  • corner 12c With the fourth end, corner 12c, the linkage frame 12 is mounted to the upper hoisting block 8.
  • the corner 12a is moved up and/or downwards, such that, due to the pivoting arrangement, the corners 12b 1 and 12b2 are moved towards and/or away from each other.
  • the falls 4a 1 and 4a2 of the multi-fall rope section 4a are moved more or less apart from each other, thus the lower hoisting block 9 is moved up or down.
  • the main hoisting direction H can be understood to be the main direction between the upper hoisting block 8 and the lower hoisting block 9 with the lifting hook 6, which here typically will be approximately vertical.
  • a smaller actuation force may be sufficient to impart motion on the lifting gear 6 to compensate at least partly the relative motion.
  • Figure 6 gives a two-dimensional schematic representation of a marine structure 1 with a lifting device 2 according to the invention.
  • the linkage frame 12 is here shown as a two-dimensional structure as well, having hinge corners 12a, 12b 1, 12b2, 12c providing for planar movement.
  • a real structure will typically be a three-dimensional structure, e.g. each fall 4al, 4a2 may be a fall string comprising multiple parallel hoisting ropes.
  • the linkage frame 12 may then be connected to each hoisting rope of the fall string at both sides of the multi-fall section 4a, thus implying that the linkage frame is a three-dimensional structure as well.
  • the hinged corners provide for planar motion also of the three-dimensional structure.
  • the hinged corners allow for a single degree of rotational freedom of motion.
  • An embodiment of a spatial three-dimensional linkage frame is shown in Figure 10.
  • Figure 7 shows a motion compensation system 10 with a four bar linkage frame 12 mounted between the falls 4al, 4a2 of the multi-fall hoisting rope section 4a of the hoisting rope.
  • the actuation mechanism 11 is here mounted remote from the linkage frame 12, and is connected to the linkage frame 12 with the wire rope 14.
  • the wire rope 14 is, according to the invention, independent from the reeving system 3, as in the other
  • the passive part l ib of the actuation mechanism 11 is provided by a raised ballast weight that can move up and down and that, contrary to the prior art is independent from the hoisting reeving system 3 as well.
  • the ballast weight l ib is only connected to the wire rope 14 and as such provides potential energy for the actuation of the linkage frame 12 to compensate for relative motion.
  • the passive part may be provided as a raised ballast weight, which can move up and down, to store and retrieve potential energy as passive energy, as is shown in Figure 7.
  • Providing a ballast weight l ib as a passive part, which separate from the hoisting reeving, can be understood to be an invention on its own.
  • the raised ballast weight can move up and down along guide rails.
  • the guide rails are mounted on the lifting device.
  • the ballast weight is part of the wire rope and is independent from the reeving system.
  • the active part 11a of the actuation mechanism 11 may be provided by an active winch.
  • the wire rope 14 comprises two parts 14a, connected to the active part 11a of the actuation mechanism 11, and 14b connected to the linkage frame 12.
  • the actuation force may be reduced further to limit the size and weight of the active part 11a and/or the passive part l ib.
  • the active part 11a is here schematically represented as an active winch 11a, but can be a hydraulic cylinder or any other actuation mechanism.
  • the wire rope 14b is attached to the corners 12c and 12a to be sheaved over a pulley 15a at the end 12a so the force in the wire rope 14b may be reduced more to obtain a similar displacement of the corner 12a.
  • the passive part l ib is preferably temporarily disconnected and kept stationary. After the load is hooked on, the passive part l ib is then connected to contribute to the passive energy for compensating at least partly the relative motions.
  • FIG. 9 shows an embodiment of such a releasing/locking mechanism, also called hook-up configuration 19 comprising a block 17 movable engaged in a housing 18 and connected with wire ropes 14a and 14b.
  • the movable block 17 may move up and down in the housing 18, e.g. sliding or via rails or guides, etc.
  • the ballast weight is disconnected from the motion compensation system 10, for example by being braked or locked.
  • the block 17 which is much smaller than the ballast weight l ib.
  • the passive weight l ib is reconnected to the motion compensation system, e.g. be removing the braking action and/or removing the locking action, the block 17 may then be positioned at an upper end of the housing 18.
  • Figure 10 shows a schematic perspective view of a linkage frame 12 mounted to a reeving system 3.
  • the linkage frame 12 is a spatial three- dimensional structure mounted between a right fall string 4a 1 and a left fall string 4al.
  • Each fall string 4al, 4a2 comprises multiple hoisting ropes 4 as well and the hnkage frame 12 is connected to each hoisting rope 4, as can be seen in Figure 10.
  • Sheaves 22 are provided to connect to each of the hoisting ropes 4.
  • the linkage frame 12 is here arranged near the upper hoisting block 8 between the upper hoisting block 8 and the lower hoisting block 9 of the section 4a of the hoisting reeving system 3.
  • the lifting gear 6, here a lifting hook 6, is connected to the lower hoisting block 9.
  • the linkage frame 12 is here a multi-bar linkage frame 12 comprising at least four bars hingedly connected to each other allowing for one degree of rotational motion between adjacent bars.
  • the additional wire rope 14 is independent of the hoisting reeving 3 and is connected to the linkage frame 12 for actuating the linkage frame 12.
  • the actuation mechanism 10 is not shown in Figure 10.
  • four hoisting ropes 4i, 4ii, 4iii, 4iv, are shown, such that a relatively large load may be hoisted which are splitted beyond the sheaves 22 to improve load bearing capacities of the reeving system 3.
  • the invention is explained in the above example by means of a crane as a hoisting device.
  • the hoisting device can of course also be a hoisting device that holds a drilling string or a dredging head.
  • the reeving system of such a hoisting device can then be arranged between the hoisting winch or hoisting cylinder and the lifting gear, e.g. the hook of the drilling string or dredging head.
  • the motion compensation system provided is similar to the ones described above.
  • a hnkage mechanism can be provided that connects to the hoisting rope to impart a substantially transverse motion to the hoisting rope at the linkage mechanism connection with respect to the rope main loading direction.
  • An actuation mechanism is coupled to the linkage mechanism to actuate the linkage mechanism.
  • a wire rope independent of the reeving system can be provided to connect the actuation mechanism with the linkage mechanism.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

La présente invention concerne un procédé permettant de compenser des mouvements relatifs d'un mécanisme de levage (6) d'un dispositif de levage (2) raccordable à une charge (20), le dispositif de levage comprenant un mouflage (3) avec au moins un câble de levage (4), ledit procédé comprenant les étapes consistant à raccorder un mécanisme de tringlerie (12) du système de compensation de mouvement (10) au câble de levage ; actionner le mécanisme de tringlerie pour transmettre le déplacement du câble de levage dans une direction sensiblement transversale d'une direction de charge principale de câble, pour transmettre le mouvement du mécanisme de levage pour compenser le mouvement relatif du mécanisme de levage.
PCT/NL2014/050812 2013-11-29 2014-11-28 Système de compensation de mouvement, dispositif de levage, structure marine flottante, structure marine fixe Ceased WO2015080584A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2011873A NL2011873C2 (en) 2013-11-29 2013-11-29 Motion compensation system, hoisting device, floating marine structure, fixed marine structure.
NL2011873 2013-11-29

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Publication Number Publication Date
WO2015080584A1 true WO2015080584A1 (fr) 2015-06-04

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WO (1) WO2015080584A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210238935A1 (en) * 2018-06-06 2021-08-05 Maersk Drilling A/S Method and system for mitigating cable wear in a hoisting system
CN116477474A (zh) * 2022-08-08 2023-07-25 中国船舶重工集团公司第七一三研究所 一种船用起重机的自动防摇控制方法
WO2025140219A1 (fr) * 2023-12-29 2025-07-03 江苏金风科技有限公司 Procédé d'installation pour éolienne en mer

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4886397A (en) * 1987-08-27 1989-12-12 Cherbonnier T Dave Dynamic load compensating system
WO2001029366A1 (fr) * 1999-10-19 2001-04-26 Roodenburg, Joop Mecanisme de levage, avec compensateur installe dans un systeme de levage par cable
WO2008022125A1 (fr) * 2006-08-15 2008-02-21 Hydralift Amclyde, Inc. Compensateur actif direct de mouvement de tangage actif/passif à poulie unique
WO2010046649A1 (fr) * 2008-10-22 2010-04-29 Subsea7 Limited Opérations de levage en mer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4886397A (en) * 1987-08-27 1989-12-12 Cherbonnier T Dave Dynamic load compensating system
WO2001029366A1 (fr) * 1999-10-19 2001-04-26 Roodenburg, Joop Mecanisme de levage, avec compensateur installe dans un systeme de levage par cable
WO2008022125A1 (fr) * 2006-08-15 2008-02-21 Hydralift Amclyde, Inc. Compensateur actif direct de mouvement de tangage actif/passif à poulie unique
WO2010046649A1 (fr) * 2008-10-22 2010-04-29 Subsea7 Limited Opérations de levage en mer

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210238935A1 (en) * 2018-06-06 2021-08-05 Maersk Drilling A/S Method and system for mitigating cable wear in a hoisting system
US11639639B2 (en) 2018-06-06 2023-05-02 Noble Drilling A/S Method and system for mitigating cable wear in a hoisting system
CN116477474A (zh) * 2022-08-08 2023-07-25 中国船舶重工集团公司第七一三研究所 一种船用起重机的自动防摇控制方法
WO2025140219A1 (fr) * 2023-12-29 2025-07-03 江苏金风科技有限公司 Procédé d'installation pour éolienne en mer

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