CN117561210A

CN117561210A - Mounting vessel, lifting device, pile holder, control unit and method

Info

Publication number: CN117561210A
Application number: CN202280045539.1A
Authority: CN
Inventors: D·B·维伊宁; J·鲁登伯格
Original assignee: Itrec BV
Current assignee: Huisman Equipment BV
Priority date: 2021-04-30
Filing date: 2022-04-29
Publication date: 2024-02-13

Abstract

The invention relates to a vessel for mounting a pile for supporting a wind turbine, the vessel comprising a hull, a lifting device and a pile holder. The lifting device includes a base, an elongated upright superstructure, and a lifting assembly, and the pile gripper includes a gripper base and a gripping device. According to the invention, the pile engaging means and the gripping means can be moved in each case in the X-Y plane with respect to the vessel when both engage the pile while supporting the pile, from an inboard support position in which the pile engaging means is in an upper position and the pile is above the vessel, to an outboard installation position in which the pile is outside the contour of the vessel.

Description

Mounting vessel, lifting device, pile holder, control unit and method

Technical Field

Title: lifting device, upright crane and installation vessel

An offshore wind turbine includes a nacelle supporting the wind turbine and a tower of blades. The tower is mounted on a foundation, typically in the form of a single pile, i.e. a cylindrical bottom, a portion of which is driven into the seabed. As an alternative base, a bracket, i.e. a truss or frame member mounted on the seabed may be used.

Background

Currently, many offshore wind turbine wind farms are designed to allow for large amounts of electricity production. Wind turbines have an ever increasing capacity and size for efficiency reasons. Currently 5 megawatt turbines and 8 megawatt turbines are being planned. Even 14 megawatt turbines are conceivable in the future. In a known design, an 8 megawatt turbine has a hub diameter (the hub can have 160 meters of blades), and She Gugao degrees at about 120 meters above sea level. The 14 megawatt turbine being designed has a blade diameter of 220 meters and a hub at about 160 meters above sea level.

At least in future designs, wind turbines including towers, nacelles and blades may weigh well in excess of 1000 tons. The base itself may weigh hundreds of tons, for example, depending on the type of base. The foundation is installed by first driving the pile into the sea floor and then mounting a wind turbine on the pile, the wind turbine comprising a tower, a nacelle and blades. The wind turbine may be installed as a whole at one time or by assembling the wind turbine in several parts on piles. The transition piece may be disposed between the post and the tower of the wind turbine.

To facilitate transport of the individual piles to the installation site, the piles are transported to the installation site in a horizontal position. Storing the cell piles in a horizontal position can keep the center of gravity of the cell piles close to the water surface, which is advantageous for vessels transporting cell piles.

At the installation site, the cell pile must be erected, i.e. the top end of the cell pile is lifted relative to the bottom end of the cell pile, to bring the pile from a horizontal position into a vertical or upright position.

For example, it is known from WO2019103611 to transport the cell piles in a horizontal position and to erect the cell piles at the installation site using two deck-mounted cranes. The cell piles are stored on the deck of the vessel between two deck mounted cranes. In addition, the single pile is stored with the top end in an outboard position and the bottom end supported on a rail truck mounted on the rail. To erect the cell pile, two cranes lift the top end of the cell pile and guide the bottom end of the pile along the guide track.

A similar method is known, for example, from WO2019231329, in which individual piles are erected by a single crane. The bottom ends of the individual piles are supported by individual pile holders which tilt with the individual piles and support the individual piles during erection.

The transport and erection of single pile is further known from e.g. EP3650686A1, WO2019149674A1 and WO 2018052291.

The individual piles may have a diameter of 10 meters or more, a length of 60 meters or more and a weight of 500 metric tons or more. There is a trend to use larger wind turbines and it is desirable to install offshore wind turbines at greater water depths than are currently encountered. Both of these conditions result in a larger, heavier base. It is therefore expected that in the near future, more than 100 meters, possibly 120 meters or more, of single pile will need to be installed. Such piles may weigh more than 1000 metric tons, possibly 1300 metric tons or more.

Furthermore, there is a trend towards reduced costs in installing offshore wind turbines, in particular in improving the efficiency of wind turbine installation. This can be achieved, for example, by shortening the installation process and by enlarging the operating window, i.e. making the installation process less subject to environmental influences such as wind, heave, etc.

Disclosure of Invention

The present invention relates to a vessel and a method for mounting a foundation of an offshore wind turbine, in particular a mono pile. It is an object of the present invention to provide an alternative installation vessel and method for erecting a mono pile. It is a further object of the present invention to provide an improved installation vessel and method for erecting a mono-pile. It is a further object of the present invention to provide a mounting vessel and method for erecting a mono pile which allows a more controlled erection process and thus preferably allows an enlarged operating window.

Furthermore, it is further suggested to assemble the wind turbine offshore, i.e. on a dedicated vessel. Thus, the wind turbine may be preassembled for transport to the installation site, which is much easier than transporting the assembled wind turbine over long distances. At the installation site, the wind turbine is assembled and mounted on a base (e.g., a base pile or a floating base).

Thus, according to a first aspect, the present invention provides a lifting device according to clause 31.

According to a first aspect, the present invention provides a lifting device for erecting an elongate wind turbine assembly on a vessel, such as a foundation pile for supporting a wind turbine or a tower for supporting a wind turbine nacelle.

According to the invention, the lifting device comprises:

a base, wherein the base is configured to secure the lifting device to a hull of a vessel,

an elongated upright superstructure is provided,

a trolley guide, for example a rail comprising one or more guide rails, which extends along the upright superstructure in the longitudinal direction of the upright superstructure,

a cart coupled with the cart guide to be movable along the upright superstructure, the cart being guided by the cart guide, wherein the cart is provided with wind turbine assembly engagement means configured to engage and pivotally support a wind turbine assembly at a top end thereof, or wherein the cart is configured to receive such wind turbine assembly engagement means, optionally via a coupling provided to the cart, for supporting the wind turbine assembly engagement means,

-a lifting assembly connected or connectable to the wind turbine assembly engagement means and/or the coupling thereof, for example via a trolley, and configured to move the trolley along the trolley guide together with the wind turbine assembly engagement means and/or the coupling thereof when connected with the top end of the supported wind turbine assembly, and thereby from a lower position of the wind turbine assembly with its top end at or near the base to an upper position with its top end remote from the base along the upper structure and an upright orientation of the wind turbine assembly along the upper structure.

The wind turbine assembly may refer to a pile or foundation pile for supporting a tower of a wind turbine or to a tower for supporting a nacelle of a wind turbine.

With the lifting device according to the first aspect of the invention, the wind turbine assembly may be pivoted from a horizontal transport position to an upright or standing position. During the erection process of the wind turbine assembly, the top end of the wind turbine assembly is guided by a trolley which in turn is guided by a trolley guide extending along the upstanding superstructure. Thus, the lifting device enables a more controllable movement of the wind turbine component during erection. Supporting the top end of the wind turbine assembly during the erection process provides additional stability to the wind turbine assembly, which is beneficial when erecting large and/or heavy mono-piles.

In contrast, when erecting a mono-pile in the prior art, the top end of the wind turbine assembly is supported at the end of the freely hanging lifting cable. The freely suspended lifting cable is flexible, thus allowing the tip to swing in a direction substantially perpendicular to the lifting cable. Thus, during such erection, the position of the top end of the wind turbine component cannot be controlled. For example, movements of the vessel due to sea conditions may lead to sway of the wind turbine assembly, which in turn may lead to damage to the erection equipment, such as to a truck supporting the bottom end of the turbine assembly during the erection process. Thus, in the prior art, when erecting foundation piles, it is preferred to use jack-up vessels and/or to perform the erection only in optimal weather conditions.

Thus, according to the first aspect of the invention, guiding the top end of the cell pile allows a more controlled process, more particularly a more controlled movement of the top end of the cell pile. This is especially beneficial when erecting large and heavy single piles. In addition, when the movement of the top end of the cell pile is controlled by the cart, the top end is not moved by wind or the swing of the ship, which may occur when the top end is supported by a conventional crane. Thus, with the lifting device according to the first aspect of the invention, the erection process is less susceptible to weather, which allows for a larger operating window.

In use, the lifting device is preferably provided at the end of the erection deck, said trolley track being provided with a trolley track for guiding the bottom end of the wind turbine assembly and a supporting trolley during the erection process. In such a configuration, the lifting device according to the first aspect of the invention allows guiding both the bottom end and the top end of the wind turbine component during the erection process, and thus enables a more controlled movement of the wind turbine component during erection.

In an embodiment, the lifting assembly is a lifting assembly comprising a lifting winch and an associated lifting cable, such that when connected, the trolley and the wind turbine engagement device therewith and/or the coupling thereof can be moved along the guide by operating the lifting winch.

In this embodiment, an elevator is used to move the cart. Providing the lifting assembly with a lifting winch and associated lifting cable enables the trolley to be used as a lifting device, for example for lifting and lowering a load at a location adjacent to an upright superstructure.

In an alternative embodiment, the cart is moved, for example, along a cart guide using a rack and pinion drive system. For example, rack and pinion drives may be used when the ability to lift very heavy loads is more important than the lifting speed.

In another embodiment, the lifting assembly comprises an upper sheave assembly at the upright superstructure, and the lifting assembly is connected or connectable to a wind turbine assembly engagement device and/or a coupling thereof via a load coupling device comprising a lower sheave assembly, for example by means of its connection to the trolley, the lifting cable being arranged to pass through multiple rumbles of the upper sheave assembly and the lower sheave assembly to enable a crane to lift a load using the lifting winch.

In such embodiments, the multiple rumble arrangement is capable of lifting heavy loads, while the load coupling device facilitates the use of a cart to lift other loads in addition to the wind turbine components, in particular the foundation piles and/or the tower. For example, the lifting assembly may be used to lift the nacelle and/or the blades of the wind turbine, thereby enabling the lifting device to be used when assembling the wind turbine.

In an embodiment, the lifting device is a crane, the base of the lifting device is a crane base, and the upright superstructure is an upright crane superstructure. In this embodiment, the crane superstructure comprises a crane housing and a boom, wherein the boom extends between a boom base end and a boom tip, wherein the boom is pivotally supported at the boom base end by the crane housing about a horizontal boom pivot axis, the boom has a lowered position for lifting a load at a horizontal distance from the crane base and a raised upright position for forming the upright superstructure for erecting a pile along the crane base, and wherein preferably at least a part of the trolley guide is mounted to the boom. In this embodiment, the crane further comprises a pitch winch and associated pitch cable, wherein the pitch winch is mounted on the crane housing and the pitch cable extends between the pitch winch and the boom to enable the boom to pivot about the horizontal boom pivot axis between a lowered position and a raised upright position.

At least a part of the trolley guide is incorporated in a boom which can be pivoted to a raised, upright position, allowing the hoisting device to be used as a crane and extending the working area of the hoisting device and the functionality of the hoisting device. The load may be lifted at a horizontal distance from the crane base with the boom in one of the lowered positions, and the crane forms an upright superstructure for the controlled erection of the wind turbine assembly with the boom in the raised upright position. In another preferred embodiment, the crane is configured to lift the wind turbine assembly from the storage deck onto the erection deck and/or from the quay or the supply vessel onto the vessel on which the crane is mounted.

In an embodiment, the lifting device, e.g. a crane, further comprises a swivel bearing arranged between the base and the superstructure, e.g. between the crane base and the crane housing, wherein the swivel bearing enables the superstructure to swivel about a vertical swivel axis relative to the base.

In such embodiments, the slew bearing enables the lifted wind turbine assembly (e.g., the erected foundation pile) to be moved from an inboard position to an outboard position by slewing the lifting device (e.g., the crane housing).

In an alternative embodiment, the lifting device, for example a crane, comprises deck mounted rails. The rails enable a lifting device (e.g., a crane housing) to be moved relative to the vessel, thereby enabling a lifted wind turbine assembly to be moved, for example enabling an erect foundation pile to be moved from an inboard position to an outboard position.

According to a first aspect, the invention further provides a crane for erecting an elongate wind turbine assembly on a vessel, such as a foundation pile for supporting a wind turbine or a tower for supporting a wind turbine nacelle, the crane comprising

-a crane base, the crane being configured to be secured to the hull of the vessel via the crane base, and

-an elongated upright crane superstructure comprising:

-a crane housing; and

a boom, wherein the boom extends between a boom base end and a boom tip, wherein the boom is pivotally supported at the boom base end by a crane housing about a horizontal boom pivot axis, the boom having a lowered position for lifting a load at a horizontal distance from the crane base and a raised upright position for forming the upright superstructure for erecting a pile along the crane base,

-a swivel bearing arranged between the crane foundation and the crane housing, wherein the swivel bearing enables the crane superstructure to swivel relative to the foundation about a vertical swivel axis;

-a pitch winch and associated pitch cable, wherein the pitch winch is mounted on the crane housing and the pitch cable extends between the pitch winch and the boom to enable the boom to pivot about the horizontal boom pivot axis between a lowered position and a raised upright position;

a trolley guide, for example a track comprising one or more guide rails, which extends along the upright crane superstructure in the longitudinal direction of the upright crane superstructure,

a trolley coupled with the trolley guide to be movable along the upright crane superstructure, the trolley being guided by the trolley guide, wherein the trolley is provided with wind turbine assembly engagement means configured to engage and pivotally support a wind turbine assembly at its top end, or wherein the trolley is configured to receive such wind turbine assembly engagement means, optionally via a coupling provided to the trolley, for supporting the wind turbine assembly engagement means,

-a lifting assembly comprising

An upper pulley assembly at the upright superstructure

Load coupling device comprising a lower pulley assembly

A lifting winch and an associated lifting cable,

wherein the lifting cable is arranged as a plurality of rumble cords passing through the upper and lower pulley assemblies to enable the crane to lift a load using the lifting winch, and

wherein the lifting assembly is connected or connectable to the wind turbine assembly engagement means and/or the coupling thereof via a load coupling means, for example by means of its connection to a trolley, and such that the trolley and the wind turbine engagement means and/or the coupling thereof therewith, when connected, can be moved along the guide by operating the lifting winch to move the trolley with the wind turbine assembly engagement means and/or the coupling thereof, when connected, and the top end of the supported wind turbine assembly is moved along the trolley guide, thereby from a lower position of the wind turbine assembly with its top end at or near the base to an upper position with its top end remote from the base along the upright crane upper structure and an upright orientation of the wind turbine assembly along the upright crane upper structure.

With the crane according to the first aspect of the invention, the boom of the crane may be pivoted to an upright position for erecting the wind turbine assembly, wherein the top end of the wind turbine assembly is guided by the trolley. This allows for controlled erection, particularly with large and heavy mono-pile and wind turbine towers.

The pivotable boom is pivotable between a lowered lifting position for lifting a load at a distance from the crane base and a raised erect position for erecting the wind turbine assembly to an erect position adjacent the crane base. The crane is preferably arranged at the end of an erection deck having a trolley track and a supporting trolley for guiding the bottom end of the wind turbine assembly during the erection process. The boom of the crane is provided with a trolley guide and a trolley for guiding the top end of the cell pile during the erection process.

Thus, the erection crane according to clause 1 allows guiding both the bottom end and the top end of the wind turbine assembly during the erection process, and thus enables a more controlled movement of the wind turbine assembly during erection. Supporting the top end of the wind turbine assembly during the erection process provides additional stability to the wind turbine assembly, which is beneficial when erecting large and/or heavy mono-piles.

For example, when erecting a cell pile in the prior art, the top end of the cell pile is supported by a crane, which allows the top end to swing. According to the invention, guiding the top end of the cell pile allows a more controlled process, more specifically a more controlled movement of the top end of the cell pile. This is especially beneficial when erecting large and heavy single piles. In addition, when the movement of the top end of the cell pile is controlled by the cart, the top end is not moved by wind or the swing of the ship, which may occur when the top end is supported by a conventional crane. Thus, with the crane according to clause 1, the erection process is less susceptible to weather, which allows a larger operating window.

According to a first aspect, the invention further provides an erection crane to be supported by a hull of a vessel adjacent to an erection deck for erecting a wind turbine assembly (e.g. a pile or tower), wherein the erection crane comprises:

a crane base which is provided with a base,

-a crane housing and a swivel bearing arranged between the crane base and the crane housing, wherein the swivel bearing enables the crane housing to swivel about a vertical swivel axis;

-a boom, wherein the boom extends between a base end and a tip end, wherein the boom is pivotally supported by a crane housing at the base end for lifting a load at a distance from a crane base, and a raised upright position of the boom for erecting a wind turbine assembly adjacent to the crane base;

-a pitch winch and associated pitch cable, wherein the pitch winch is mounted on the crane housing and the pitch cable extends between the pitch winch and the boom to enable the boom to pivot between a lowered position and a raised upright position; and

-an elevator, wherein the elevator comprises an elevator winch and an associated elevator cable, wherein the elevator cable is guided via an upper pulley assembly in the boom to a lower pulley assembly of a load coupling device for coupling with a load (e.g. a top end of a wind turbine assembly) to enable the elevator winch to use to elevate the load;

a trolley guide, for example a track comprising one or more guide rails, mounted to the boom of the crane; and

-a trolley coupled with the trolley guide to be guided along the boom of the crane, wherein the trolley is provided with a wind turbine component engagement device configured to pivotably support a wind turbine component at its top end, or wherein the trolley is configured to receive a wind turbine component engagement device and/or a load coupling device supporting a wind turbine component engagement device.

It is noted that it is known to provide a vessel with a rigid upright tower provided with a trolley guide and trolley for erecting the mono-pile. This type of construction is not provided with a pivotable boom and is therefore not configured for lifting a load at a distance from the tower. The erection crane according to the first aspect of the invention is configured for controlled erection, i.e. guiding the top end of the wind turbine assembly, and for lifting the load, i.e. with the boom in a lowered position, and preferably for pivoting the boom while supporting the load, thereby moving the load towards or away from the base of the crane.

The crane according to the first aspect of the invention may be used with a vessel (i.e. a non-jack-up floating hull) configured to maintain position and orientation relative to the installation site. Thus, the vessel does not need to be anchored or lifted to be able to install the cell piles, which allows for a quick process. In addition, the vessel can be deployed in deeper water for installation of large mono-piles.

The boom of the crane can be pivoted in a lowered lifting position to enable the crane to lift a load at a distance from the crane base. Furthermore, by pivoting the boom while the crane supports a load, the load can be moved towards or away from the base of the crane.

When the boom is raised in the upright position, it is in a substantially vertical or upright position. When the load coupling supported by the hoisting cable of the hoisting winch is engaged by the trolley, the trolley can be used to guide the load coupling along the boom of the crane. Thus, the load coupling device is prevented from swinging relative to the boom, and the tip of the wind turbine assembly supported by the load coupling device can be moved along the boom in a controlled manner.

With the crane according to the invention, the boom of the crane can be pivoted in an upright position for erecting the wind turbine assembly, wherein the bottom end of the wind turbine assembly is guided by the trolley on the upright rail and the top end of the wind turbine assembly is guided by the trolley and the trolley guide. Preferably, the boom, or at least a trolley guide mounted to the boom, extends in a substantially vertical direction when the boom is in the upright position.

In another embodiment, the crane housing is provided with a boom support for engaging the boom when in the erect position, the boom support preventing the boom from moving beyond the erect position. Additionally or alternatively, the crane is provided with boom securing means for securing the boom in an upright position during the erection process.

In an embodiment, the crane comprises a boom stabilizer comprising a stop for positioning the boom in its raised upright position, and a boom locking device for locking the boom in the raised upright position. Such boom securement devices are for example provided on a boom which is mounted on or is part of the crane housing. By stabilizing the boom, it is possible to prevent the boom from moving out of the erect position during the erecting process, and preferably the boom is fixed in place to prevent any pivoting of the boom.

In another embodiment, the boom securing means comprises an active damper, such as a hydraulic cylinder, which resiliently engages the boom when the boom is moved to the upright position, such as when the boom is at an angle of 3 degrees to vertical. In an embodiment, the boom stop comprises a hydraulic cylinder forced into the extended position. Thus, when the boom is pivoted upward and engages a hydraulic cylinder, the hydraulic cylinder provides an elastic force pushing the boom in a downward direction.

Thus, when the boom is the top region where it is engaged by the damper, and when it is lowered beyond the top region, the damper disengages the boom. In embodiments, the damper engages the boom when the boom is at an angle of 6 degrees or less (e.g., 3 degrees or less) from vertical.

In embodiments, the crane comprises a boom mover for pivoting the boom away from the raised upright position, such as a hydraulic cylinder operable for pushing or pulling the boom, or a boom deployment winch with associated cable for pulling the boom for pivoting the boom away from the raised upright position. Thus, after the erection process, the boom may be pivoted away from the upright position, e.g. the boom may be pushed away from the upright position by a hydraulic cylinder, or may be pulled away from the upright position by a winch with an associated cable.

It is noted that when the boom is moved from the upright position, for example at an angle of 3 degrees or more to the vertical, the overhead cable may only effectively support the boom and enable the boom to be lowered. Thus, the boom mover may be used to move the boom from an upright position to a position where the pitch cable may support the boom.

In another embodiment, the boom mover is integrated in a boom stabilizer, e.g. the boom stabilizer comprises a hydraulic cylinder acting as a damper for receiving the boom when pivoted to the upright position and pushing the boom out of the upright position after the erection process.

In an embodiment, the cart is provided with a wind turbine assembly engagement device configured to engage and pivotally support a wind turbine assembly (e.g., a mono-pile or tower) at its top end. Thus, the cart is configured to engage at its top end an upper end of a wind turbine component (e.g., a foundation pile) positioned horizontally on the deck. In an alternative embodiment, the cart is configured to receive the wind turbine assembly engagement device for supporting the wind turbine assembly engagement device, optionally via a coupling provided to the cart. In such embodiments, the wind turbine assembly device may be removed from the cart. In an embodiment, the wind turbine assembly engagement device is configured to be connected to a load connector supported by a lifting cable of the lifting device, and the trolley is configured to be coupled with the load connector and thus with the cell pile assembly engagement device for guiding the cell pile engagement device along the trolley guide.

In an embodiment, the load coupling means of the crane is configured to couple with a cell pile engaging means, such as a cell pile top end clamp, configured to pivotally support a cell pile at its top end.

In an embodiment, the cart is configured to be coupled with a wind turbine assembly engagement device. The cell pile engagement means is preferably configured to pivotally support the top end of the wind turbine assembly to enable the cell pile to pivot relative to the load coupling means and the trolley during erection.

In an embodiment, the lifting device is provided with a boom and the load coupling device and the trolley are configured to be coupled and the trolley is provided with a load coupling device configured to be coupled with the top end of the wind turbine assembly. In such embodiments, the lifting cable support of the lifting winch may be used to couple to the load coupling device of the cart. The cart may be used to erect a wind turbine assembly when the boom is raised to an erect position and a load coupling supported by the cables of the erect winch is connected to the cart.

When the boom is lowered from the upright position to the lifted position and the load coupling means is not coupled with the trolley, the load coupling means may be used to lift the load at a distance from the crane base.

In an embodiment, the lifting device is provided with a boom, i.e. configured as a crane, and the crane further comprises a secondary lift comprising a secondary lifting winch with an associated secondary lifting cable, the secondary lifting cable supporting a secondary load coupling device configured to be connected to a load, and the lifting cable being guided to the load coupling device via a crown block for lifting the load at a distance from the crane base using the secondary lifting winch.

In such an embodiment, the crane is provided with a secondary lift in addition to the lift, which secondary lift comprises a secondary lifting winch for lifting the load at a distance from the base of the crane when the boom is in the lowered position. In an embodiment, the secondary lift is configured to raise and lower the cart along the cart guide, more specifically, to move the cart along the cart guide to a position to engage or disengage the load coupling means of the primary lift.

In an embodiment, the cart is configured to engage the load coupling devices such that when they are coupled, the cart moves along the cart guide with the load coupling devices. Thus, the main lift may be used to move the cart along the cart guide.

In an embodiment, the trolley guide extends further along the base of the lifting device, so that the trolley can be moved from the superstructure onto the base of the lifting device.

In embodiments in which the lifting device is provided with a boom, the trolley guide extends below the horizontal boom pivot axis of the boom, at least when the boom is in the upright position. In such embodiments, the trolley guide extends along and below the boom of the crane. Thus, when the boom is in the upright position, the trolley can not only be moved along the boom of the crane, but can also be lowered under the boom of the crane. Extending the trolley guide along the base and/or below the boom pivot axis allows the trolley to be moved to a position closer to the upright deck. This is advantageous, for example, when the boom pivot axis is positioned at a distance above the standing deck of the vessel. Since the cart can be moved close to the upright deck, it can be optimally positioned with respect to the top end of the wind turbine assembly, or can even be stopped close to the deck for easy access by personnel, e.g. adjusted for maintenance of the cart.

In another embodiment, the lower part of the trolley guide (preferably the part extending below the boom pivot axis) is mounted to the crane housing and is hingably connected to the part of the trolley guide connected to the boom, or is separate or separable from the trolley guide connected to the boom, so that it does not pivot with the boom and does not pivot with the trolley guide connected to the boom when the boom is pivoted about the boom pivot axis.

In an embodiment, the trolley guide comprises an upper structural part mounted to the elongate upstanding superstructure of the lifting device and a base part mounted to the base of the lifting device, so that the trolley can be moved from the elongate upstanding superstructure onto the base, or vice versa. This allows the base to have a relatively high height while still enabling the cart to be lowered close to the deck surface.

In an embodiment, the trolley guide comprises a boom portion mounted to the boom of the crane and a base portion mounted to the base of the crane, and wherein the trolley is movable from the boom portion onto the base portion, for example for coupling the top end of the wind turbine component to the wind turbine component engagement device.

In this embodiment, the trolley guide comprises a base part which is mounted to the base of the crane and thus extends along the base of the crane and below the boom pivot axis. Thus, the base portion of the trolley guide does not move with the crane housing and boom when swiveled about the vertical axis.

In a preferred embodiment, the lifting device is combined with a truck track configured to guide a truck supporting the bottom end of the wind turbine component. In such embodiments, the base portion of the cart guide is preferably aligned with the cart rail so that it can be used to lower the cart into position adjacent the deck and aligned with the cart rail so that the load coupling device can be guided into position adjacent the deck. Guiding the load coupling means close to the deck allows engagement of the cell piles arranged close to the deck. When the cart cannot be lowered close to the deck, the lower part of the upright movement may not be guided and may therefore not be optimally controlled. This configuration allows for a compact cart and/or wind turbine assembly engagement device. Furthermore, the rails may be arranged close to the deck and do not have to be raised to present the wind turbine assembly at a height allowing the top of the wind turbine assembly to be coupled with the load coupling means, thereby achieving a controlled, fully controlled, i.e. guided, erection movement.

Preferably, the base portion of the cart guide is sized to receive the cart. Thus, the cart may be parked on the base portion of the cart guide. For example, when the trolley is parked on the base part, the boom of the crane can be operated without supporting the trolley. This is especially advantageous when the boom of the crane is used for lifting loads instead of for erecting wind turbine components.

In another embodiment, the base of the crane or lifting device is provided with a plurality of trolley guide base parts, each of which can be aligned with a trolley guide part provided on the boom or superstructure by rotating the crane housing or superstructure to the correct position.

In an embodiment, the one or more trolley guide bases are configured to park one or more sub-trolleys, e.g. sub-trolleys that may be used in combination with trolleys supporting the top end of the wind turbine assembly, for engaging the lower end of the wind turbine assembly to stabilize the wind turbine assembly when the wind turbine assembly is lifted by a crane, or sub-trolleys that are configured to be used in place of the main trolleys, wherein the sub-trolleys are configured to engage and support a nacelle or wind turbine blade for assembling the wind turbine.

In an embodiment, the trolley guide comprises a boom portion provided with a lower portion extending below the pivot axis of the boom, and the base portion of the trolley guide is aligned with said lower portion of the boom guide when the crane is turned to the correct position. In an alternative embodiment, the base portion of the trolley guide extends up to or beyond the boom pivot axis.

In an embodiment, the cart guide comprises one or more guides, e.g. one or more rails, and the cart is provided with guide engagement means, e.g. guide wheels, which engage the guides and movably fix the cart to the cart guide. Thus, the cart may move only along the cart guide, and not in a direction perpendicular to the cart guide.

In an embodiment, the upright crane is mounted on a vessel having an upright deck and the vessel further comprises a storage deck supported by the hull of the vessel, wherein the storage deck is provided with a storage rack for supporting a plurality of mono-piles or towers in a horizontal position, wherein the storage deck and the storage rack are configured to support a plurality of wind turbine assemblies parallel to each other and preferably parallel to the longitudinal axis of the vessel.

In an embodiment, the storage rack is configured to support a row of a plurality (e.g., three) wind turbine components on the storage deck. In another embodiment, the storage rack is configured to support two or more rows of multiple wind turbine components, one stacked on top of the other. Preferably, the storage deck is located adjacent to the upright deck and the wind turbine assembly is stored on the storage deck parallel to the truck track. This facilitates the movement of the wind turbine assembly from the storage deck to the upright deck and onto the trolley track, since its direction does not have to be changed when lifting the wind turbine assembly from the storage deck onto the upright deck.

In an embodiment, the erection crane is mounted on the vessel and is located at one end of the storage deck and/or the erection deck. In another embodiment, the vessel is provided with an upright deck and a storage deck, both of which are part of a single deck.

In an embodiment, the vertical deck and the lifting device are configured such that the wind turbine assembly is parallel to the longitudinal axis of the vessel when supported in a horizontal position on the vertical deck and the top end of the wind turbine assembly is coupled to the load coupling device.

In an embodiment, an erection crane is mounted on the vessel and located at one end of the storage deck and the vessel is provided with a storage crane at the other end of the storage deck, and wherein the erection crane and the storage crane are configured to together lift the wind turbine assembly from the storage deck to the erection deck, the crane and the storage crane each lifting an end of the wind turbine assembly. In such embodiments, the crane and storage crane are positioned to lift the wind turbine assembly in a horizontal position from the storage deck onto the upright deck. In another embodiment, the crane may further be used to lift the wind turbine assembly from a supply vessel or from a quay onto a storage deck.

In an embodiment, both the erection deck and the storage deck are part of a single vessel deck.

In an embodiment, the vertical deck and the crane are configured such that the wind turbine assembly is supported in a horizontal position on the vertical deck and the top end of the wind turbine assembly is coupled to the load coupling device parallel to the longitudinal axis of the vessel.

In an embodiment, the wind turbine component engagement device and/or the coupling thereof (if present) is arranged on an active X-Y movement device configured to move the wind turbine component engagement device relative to the trolley guide in the X-Y plane of the vessel, e.g. via the coupling thereof (if present), when the lifting device is fixed to the hull.

In an embodiment, the active horizontal movement device is mounted between the cart and the load coupling device and/or the wind turbine assembly engagement device supported by the load coupling device when received in the cart.

The active horizontal movement means are adapted to actively compensate for a horizontal displacement of the wind turbine assembly engagement means in two non-parallel horizontal directions, e.g. in orthogonal horizontal directions, caused by sea conditions, while the wind turbine assembly is supported in an upright position by the wind turbine assembly engagement means. Providing the lifting device or crane with active horizontal movement means enables a more accurate positioning of the wind turbine assembly relative to the wind turbine assembly mounting position of an adjacent vessel, since the active horizontal movement means allows compensating for deviations of the wind turbine mounting position of the vessel, for example caused by sea currents. This is particularly advantageous when the vessel is a floating vessel, as suggested.

When the vessel is a non-floating vessel, such as a jack-up vessel, the lifting device or crane may be provided with horizontal movement means to compensate for deviations of the vessel from the installation position that occur during the anchoring of the vessel. In this case, no active compensation, i.e. continuous compensation, is required, since the vessel is in a fixed position relative to the installation position.

In another embodiment, the active horizontal movement device comprises one or more motor-driven displacement actuator assemblies, such as a hydraulic power assembly comprising a pump and one or more hydraulic cylinders or winch assemblies.

In an embodiment, the active X-Y motion device comprises an X-Y motion compensation actuation control system, wherein the active motion compensation actuation system has an active sea state induced motion compensation mode in which the actuation system is operated to compensate sea state induced motion of the vessel in the X-Y plane. In another embodiment, the active X-Y motion compensation actuation control system also controls the motion of the pile-holder in the X-Y plane. Thus, the position of the pile in the X-Y plane, supported at the top end by the lifting device and engaged at the lower end by the pile gripper, can be actively controlled.

In an embodiment, the active X-Y motion device (e.g. comprising an active motion compensation actuation control system) comprises one or more first rails (e.g. rails) and one or more second rails (e.g. rails) extending non-parallel to each other in the X-Y plane of the vessel when the lifting device is secured to the hull, the second rails being movable on the first rails, the actuation system further comprising one or more first X-Y motion actuator assemblies operating between the first rails and the second rails, and one or more second X-Y motion actuator assemblies operating between the second rails and the wind turbine assembly engagement device and/or the coupling thereof, the first X-Y motion actuator assemblies being for moving the second rails on the first rails, the second X-Y motion actuator assemblies being for moving the wind turbine assembly engagement device and/or the coupling on the second rails.

In another embodiment, the first and second X-Y motion actuator assemblies of the active X-Y motion device are motor driven displacement actuator assemblies, such as hydraulic power assemblies, or winch assemblies, each comprising a pump and one or more hydraulic cylinders.

In an embodiment, the crane further comprises a trolley elevator comprising a trolley lifting winch with an associated trolley lifting cable, and the trolley lifting cable is guided via a crown block to a load trolley for moving the trolley along the trolley guide. In such embodiments, the lift of the crane is used when lifting the load and the trolley lift is used when erecting the wind turbine assembly for moving the trolley.

In an embodiment, the crane further comprises a secondary lift comprising a secondary lift winch with an associated secondary lift cable, the secondary lift cable supporting a secondary load coupling device configured to be connected to a load, and wherein the lift cable is guided to the load coupling device via a crown block for lifting the load at a distance from the crane base using the secondary lift winch.

In embodiments, the lifting cable passes between the upper and lower pulley assemblies and the lifting winch has sufficient power to support and lift the wind turbine assembly, for example, to lift an assembled wind turbine or pile.

In an embodiment, the crane further comprises a crane tower for supporting the wind turbine component. In such an embodiment, the boom is arranged on the crane on one side with respect to the axis of rotation of the crane, and the crane tower is arranged on the other side of the crane with respect to the axis of rotation. Furthermore, the crane tower extends between its base end and top end and is mounted in a fixed and upright orientation on the crane housing for swiveling with the boom of the crane about a swivel axis. The crane tower is provided with:

a tower trolley guide, such as a track comprising one or more guide rails, which extend along the tower in the longitudinal direction of the tower,

a tower trolley coupled with the tower trolley guide to be movable along the tower, the tower trolley being guided by the tower trolley guide, e.g. wherein the tower trolley is provided with wind turbine assembly engagement means configured to be coupled to and support a wind turbine assembly at its top end, or e.g. wherein the trolley is configured to receive such wind turbine assembly engagement means and/or couplings for supporting a wind turbine assembly engagement means, and

-a tower lifting winch and associated lifting cable, wherein the lifting cable is guided via the top of the crane tower for lifting a crane trolley along a trolley guide for lifting and lowering a wind turbine assembly.

For example, a crane tower may be used to support the cell pile in the holder and to lower the cell pile in a vertical position into the water in the vicinity of the vessel, while erecting the tower using the boom of the erection crane.

In an embodiment, the lifting device (e.g. the crane housing and/or the boom of the crane) is provided with a wind turbine component stabilizing arm or retractor for engaging a lower part of the wind turbine component supported by the lifting device in its upright orientation, in particular for preventing the wind turbine component from swinging during crane slewing, while supporting the wind turbine component in the upright orientation.

This arrangement enables the lifting device to be moved from one location to another, for example from a shipboard location to an off-board location for mounting the wind turbine assembly at the installation site, for example to mount the tower of an assembled wind turbine to a foundation.

In an embodiment, the elongate upright structure comprises a trolley guide provided to the elongate upright superstructure, a trolley connected to the trolley guide, and a boom, and the upper pulley assembly is provided in a lifting cable of the boom and the lifting assembly, extends between the trolleys of the lifting device, and the pulley assembly provided in the boom is horizontally spaced from the elongate upright superstructure and preferably substantially in line with the central axis of the wind turbine assembly supported by the lifting device in its upright orientation. In another embodiment, a portion of the lift cable extending between the cart and the pulley assembly extends parallel to the cart guide.

In such embodiments, preferably, the lift cable is aligned with the center of gravity of the supporting wind turbine assembly when the wind turbine assembly is erected. In such embodiments, the cantilever arms, rather than the cart, support the weight of the lifted wind turbine assembly. Thus, the cart may be of a relatively light design.

In another embodiment, the lifting device is implemented as a crane and the boom of the crane comprises a boom, and the upper pulley assembly is arranged in the boom such that the lifting cable extends at least horizontally spaced apart from the boom when connected to the wind turbine assembly engaging device, e.g. via a coupling and/or a trolley, and preferably substantially in line with the central axis of the wind turbine assembly supported by the wind turbine assembly engaging device in its upright orientation.

In such embodiments, the lift cable is positioned away from the boom. The lift cable (or more specifically, the portion of the lift cable that is pitched between the upper and lower pulley assemblies) is aligned with the wind turbine assembly that is supported in a vertical position by the crane. This arrangement allows the cart to be free from moments caused by the weight of the wind turbine components supported by the crane.

In yet another embodiment, a portion of the lift cable extending between the cart and the upper sheave assembly extends parallel to the cart guide.

In an embodiment, the boom is an a-frame comprising two legs, and wherein the cart guide is disposed on the two legs. In another embodiment, the crane boom comprises a boom at its bottom end and a boom at its top end, and is provided with one or more boom cables extending between the boom and the boom, and wherein a pitch cable extends between the pitch winches and the boom of the boom. This arrangement reduces bending forces in the a-frame of the boom, especially when the boom further comprises a boom for spacing the lift cable from the boom.

In an embodiment, the boom forms an a-frame comprising two legs, and wherein the cart guide is provided on both legs of the a-frame, e.g. one or more tracks, e.g. rails, on each leg.

In an embodiment, the cart is provided with a wind turbine assembly engagement device configured to pivotally support a wind turbine assembly at a top end thereof, and wherein the cart is configured to couple with a load coupling device of an elevator. Thus, in such embodiments, the elevator is used to move the cart along the cart guide, and the cart is coupled to the wind turbine assembly.

In an alternative embodiment, the cart is configured to receive a wind turbine assembly engagement device supported by a load coupling device of the lift. In such embodiments, the lift is used to move a load coupling that supports the wind turbine assembly engagement device and supports the wind turbine assembly via the wind turbine assembly engagement device. The elevator may also be used to move the cart along the cart guide when the wind turbine assembly is received in the cart.

In an alternative embodiment, the cart is configured to receive a load coupling of the elevator, the load coupling supporting a wind turbine assembly engagement device configured to pivotally support a wind turbine assembly at a top end thereof. Thus, when the load coupling device is received in the cart, the cart may be moved together with the elevator.

In an embodiment, the lifting device is configured as a crane and the crane comprises a trolley lift comprising a trolley lift winch with an associated trolley lift cable and the trolley lift cable is guided to a trolley via a crown block for moving the trolley along the trolley guide. In such an embodiment, the trolley is provided with a dedicated lift when the boom of the crane is in one of the lowered positions, and preferably a lifting trolley for lifting the load, i.e. for lifting the load horizontally spaced from the crane base.

In an embodiment, the crane comprises a secondary lift comprising a secondary lift winch with an associated secondary lift cable, the secondary lift cable supporting a secondary load coupling device configured to be connected to a load, and the lift cable being guided to the load coupling device via a crown block for lifting the load horizontally spaced apart from the crane base using the secondary lift winch. Thus, the first lifting winch may be used to move the trolley and thus to erect the wind turbine assembly, and optionally to lift the load with the boom in the lowered position. The auxiliary hoisting winch may be dedicated to hoisting the load with the boom in one of the lowered positions.

The invention further provides a mounting vessel for mounting and preferably transporting a wind turbine component, such as a pile, e.g. a mono-pile or a tower, the mounting vessel comprising:

a hull forming an upright deck,

a lifting device according to the invention, such as a crane, wherein the lifting device is supported by the hull of the vessel adjacent to the upright deck,

-a truck track extending along the upright deck;

-a support trolley for supporting the bottom end of the wind turbine assembly, wherein the support trolley is supported by the trolley track such that the trolley is movable along the trolley track for guiding the bottom end of the wind turbine assembly along the upright deck from a position remote from the crane to a position adjacent the crane;

a gripper extending outside the profile of the vessel, for example a single pile for guiding lowering in a vertical position into the water in the vicinity of the vessel, or a floating base for engaging and preferably stabilizing a tower.

In an embodiment, the vessel further comprises a storage deck supported by the hull of the vessel, wherein the storage deck is provided with a storage rack for supporting a plurality of wind turbine components in a horizontal position, wherein the storage deck and the storage rack are configured to support a plurality of wind turbine components parallel to each other and preferably parallel to the longitudinal axis of the vessel.

In an embodiment, the lifting device comprises a cantilever at the top end of the upstanding superstructure for spacing the lifting cable a distance from the upstanding superstructure, and a swivel bearing for swiveling the upstanding superstructure about a vertical swivel axis relative to the base.

In another embodiment, the lifting device is located at one end of the storage deck, and wherein the vessel is provided with a storage crane at the other end of the storage deck, and wherein the lifting device and the storage crane are configured to together lift the wind turbine assembly from the storage deck to an upright deck, the lifting device and the storage crane each lifting an end of the wind turbine assembly.

In an embodiment, in another embodiment, the vertical deck and the lifting device are configured such that the wind turbine assembly is parallel to the longitudinal axis of the vessel when supported in a horizontal position on the vertical deck and the top end of the wind turbine assembly is coupled to the load coupling device.

In an embodiment, the cart track is aligned with the axis of rotation of the lifting device such that a central axis of a wind turbine assembly supported by the cart at one end and coupled to the cart at the other end is aligned with the axis of rotation of the lifting device.

In an embodiment, the upright deck with the carrier rails is located on the central axis of the vessel and the lifting device is mounted away from the central axis of the vessel, for example along the sides of the vessel. In such embodiments, the truck track is therefore not aligned with the swivel axis of the lifting device. In such embodiments, the wind turbine assembly is aligned with the central axis of the vessel during the erection process. In another embodiment, the holder is positioned for engaging also a pile on the central axis of the vessel, and the wind turbine assembly can be moved into the holder without substantially deviating from the central axis of the vessel. The latter allows the wind turbine assembly to be effectively transferred from an upright position above the vessel to a mounted position adjacent the vessel, i.e. outside the profile of the vessel.

In an alternative embodiment of the installation vessel according to the invention, the carrier rail is aligned with the swivel axis of the lifting device such that the central axis of the wind turbine assembly supported by the carrier at one end and coupled to the trolley at the other end is aligned with the swivel axis of the lifting device (e.g. an upright crane). Thus, during the erection process, the weight of the wind turbine component is optimally transferred to the lifting device.

In another embodiment, at least a portion of the storage deck is aligned with the central longitudinal axis of the vessel such that the wind turbine assembly may be stored on the storage deck on the centerline of the vessel. In such embodiments, the upright deck is adjacent to the central longitudinal axis of the vessel, and the wind turbine assembly supported on the upright deck is not located above the central longitudinal axis of the vessel.

In an embodiment, the clamp is a mono-pile clamp and is located at the stern of the vessel for engaging a pile supported by the lifting device on a central longitudinal axis of the vessel. This is especially advantageous when the hull of the vessel has an elongated shape. When the holder is thus located on the centre line of the vessel, transferring the wind turbine assembly to the installation site, in particular landing the mono-pile on the seabed or the tower on the foundation, does not lead to a significant change in the vessel balance, and therefore does not require the use of active ballasts to compensate for the roll of the vessel.

In an embodiment, the gripper is X-Y compensated, i.e. configured to position the wind turbine component supported by the lifting device (preferably an upright crane) in an upright (i.e. upright) position in the X-Y plane and thus compensate for movements of the vessel relative to the wind turbine component mounting position.

In an embodiment, the cart is an X-Y compensated cart, i.e. configured to position the top of the wind turbine assembly supported in an upright position in an X-Y plane, thereby compensating for movements of the vessel relative to the wind turbine assembly mounting position.

For example, in an embodiment, an active horizontal movement device is mounted between the cart and the load coupling device and/or the wind turbine assembly engagement device supported by the load coupling device when received in the cart, said active horizontal movement device being adapted to actively compensate for sea-state induced horizontal displacement of the cell pile engagement device in two non-parallel horizontal directions (e.g. in orthogonal horizontal directions) while the wind turbine assembly is supported in an upright position by the wind turbine assembly engagement device.

In another embodiment, the active horizontal movement means is connected to a horizontal movement means linked to the gripper for moving the load coupling means and/or the wind turbine component engagement means in accordance with the movement of the gripper. For example, control means may be provided which control both the horizontal movement means of the trolley and the horizontal movement means of the grippers.

In an embodiment, the vessel comprises a recess at the stern of the vessel, which recess is flanked by two deck sections. In another embodiment, the gripper is a cell pile gripper configured to guide a cell pile in the recess. In yet another embodiment, the single pile gripper is mounted on one of the deck sections and the upright crane is mounted on the other deck section.

In an embodiment, the upright deck is arranged on the central axis of the vessel and aligned with the recess, and storage decks are provided on opposite sides of the upright deck, aligned with the deck portions, and with the deck portions of the mounting crane, storage for wind turbine blades.

In an embodiment, the vessel is provided with a wind turbine assembly station at the end of the erection deck and adjacent to the lifting device (preferably an erection crane) for assembling the wind turbine, i.e. for mounting the nacelle on a tower and for providing the nacelle with blades.

In an embodiment, the lifting device comprises a blade mounting device mountable to the trolley for supporting a wind turbine blade and for positioning the blade with respect to a nacelle mounted on a tower supported in a wind turbine assembly station adjacent to the lifting device (preferably an upright crane).

In another embodiment, the blade mounting arrangement comprises:

-a base configured to be mounted to a cart or to be integral with a dedicated cart;

-a connector, wherein the connector is configured for engaging a wind turbine blade or for engaging a blade support removably mounted on the blade;

a pivot arm connected at a base end to the base for pivoting about a vertical axis in use and at another end to the connector for pivoting about a vertical axis in use.

In an embodiment, the trolley is configured for supporting the assembled wind turbine, and the lifting device is configured as an upright crane provided with a second trolley for engaging the tower of the assembled wind turbine at the lower end of the assembled wind turbine for stabilizing the wind turbine when supported by the upright crane.

In embodiments, the holder is a base holder configured to engage the floating base to position the floating base in a horizontal plane relative to the vessel and/or to stabilize the floating base relative to the vessel.

In an embodiment, the gripper is a mono-pile gripper configured for guiding mono-piles lowered in the vicinity of the vessel using a lifting device or an upright crane.

In an embodiment, the vessel comprises a base holder and a mono-block pile holder, preferably the pile holder is integrated in the base holder.

In an embodiment, the lifting device is configured as a crane, and the crane further comprises a crane tower for supporting the wind turbine component (e.g. the mono pile) on a side of the crane opposite the boom. For example, a crane tower may be used to support the cell pile in the holder and to lower the cell pile in a vertical position into the water in the vicinity of the vessel, while erecting the tower using the boom of the erection crane.

The crane tower extends between a base end and a top end and is mounted in a fixed and upright position on a crane housing for rotation with a boom of a crane about a vertical swivel axis, wherein the crane tower is provided with

-a support cart configured to support a wind turbine assembly at its top end;

a trolley guide, e.g. a track comprising one or more guide rails, for guiding the trolley along the crane tower;

-a lifting winch and associated lifting cable, wherein the lifting cable is guided via the top of the crane tower for lifting the trolley along a trolley guide, e.g. for lowering a cell pile towards the seabed.

In an embodiment, the lifting device is configured as a crane and the crane housing and/or the boom of the crane is provided with a wind turbine assembly stabilizing arm or retractor for engaging a lower part of the wind turbine assembly supported by the crane in a vertical position, in particular for preventing the wind turbine assembly from swinging during crane slewing, while supporting the wind turbine assembly in a vertical position. Thus, the crane may also be used to move the wind turbine assembly from one location to another, e.g. from a shipboard location to an off-board location for installing the wind turbine assembly at the installation site, e.g. to install the tower of the assembled wind turbine onto the foundation.

In an embodiment, an upstanding lifting cable or cable passes between the upper and lower pulley assemblies and wherein the lifting cable or cable is connected to a lifting winch of a crane, the winch having sufficient capacity to lift the wind turbine assembly.

In an embodiment, the lifting device is configured as a crane and the boom comprises a cantilever, and wherein the upper pulley assembly is arranged in the cantilever such that the lifting cable is positioned away from the boom when the load coupling device is received in the trolley. In such embodiments, the lift cable (or more specifically, the portion of the lift cable that is pitched between the upper and lower pulley assemblies) is aligned with the wind turbine assembly that is supported in a vertical position by the crane. This arrangement allows the cart to be free from moments caused by the weight of the wind turbine components.

In another embodiment, the boom comprises a boom at a base end and a boom at a tip end, and one or more boom cables extending between the boom and the boom are provided, and wherein a pitch cable extends between the pitch winches and the boom of the boom.

The invention further provides a method for erecting a wind turbine assembly, preferably using a mounting vessel according to the invention, the method comprising the steps of:

-lifting the cell pile in a horizontal position onto the upright deck using a crane with the boom in a lowered lifting position and a lifting crane, the crane with the boom in a lowered lifting position for lifting one end of the cell pile and the lifting crane lifting the other end of the cell pile;

-moving the boom from a lowered lifting position to a raised standing position;

-engaging the cell pile with a cell pile engagement means;

-erecting the cell pile using the crane with the boom in a lowered, upright position for lifting one end of the cell pile by moving the trolley along the boom from a lowered, coupled position to a raised, supporting position.

Another method according to the invention comprises the steps of:

after erection, the cell pile is moved from an erected position above the erected deck to a mounted position in which the cell pile is aligned with the cell pile holder by turning the crane around the vertical turning axis by a turning angle of at least 180 degrees, preferably a turning angle of more than 180 degrees, for example a turning angle of 190 degrees, whereby the cell pile is moved from the erected deck sideways of the vessel and subsequently towards the cell pile holder mounted to the rear end of the hull of the vessel.

The invention further provides a crane to be supported by a hull of a vessel adjacent to an erection deck for erecting and mounting a wind turbine assembly for supporting a wind turbine, wherein the crane comprises:

-a crane base to be supported by the hull of the vessel;

-a crane housing;

-a swivel bearing arranged between the crane housing and the crane base, the swivel bearing enabling the crane housing to swivel about a vertical swivel axis;

-a boom extending between a base end and a top end, wherein the boom is pivotally supported by a crane housing at the base end for pivoting about a horizontal boom pivot axis between a lowered, raised position and a raised, upright position for erecting a wind turbine assembly;

-a pitch winch and associated pitch cable, wherein the pitch winch is mounted on the crane housing and the pitch cable extends between the pitch winch and the boom to enable the boom to pivot between a lowered position and a raised position;

-a trolley provided with a wind turbine component engagement device configured to pivotally support a wind turbine component at its top end;

-a trolley guide, e.g. a track comprising one or more guide rails, for guiding the trolley along the boom, wherein the trolley guide comprises a boom portion mounted to the boom of the crane and a base portion mounted to the base of the crane, and wherein the trolley can be received on the base portion of the trolley guide to allow the boom to be operated without the trolley.

-a lifting winch and associated lifting cable, wherein the lifting cable is guided via the boom and supports a load coupling device configured to be connected to a load and preferably to the trolley for lifting the trolley along the trolley guide between a lowered coupling position for coupling the load coupling device with the top end of a pile in a horizontal position on an upright deck and a raised support position for supporting a wind turbine assembly in a vertical position.

-a crane base to be supported by the hull of the vessel;

-a crane housing;

-a boom extending between a base end and a top end, wherein the boom is pivotally supported by a crane housing at the base end for pivoting about a horizontal boom pivot axis between a lowered lifting position for lifting a load at a distance from the crane base and a raised upright position for erecting a wind turbine assembly adjacent the crane base;

-a cart provided with wind turbine assembly engagement means configured to pivotally support a wind turbine assembly at its top end, or configured to receive a wind turbine assembly engagement means and/or a load coupling means supporting a wind turbine assembly engagement means;

a trolley guide, for example a track comprising one or more guide rails, for guiding the trolley along the boom;

-a lifting winch and an associated lifting cable, wherein the lifting cable is guided via a top end of the cable and supports a load coupling device configured to be connected to a load and preferably to the trolley for lifting the trolley along the trolley guide between a lowered coupling position for coupling the trolley with the top end of a pile in a horizontal position on an upright deck and a raised support position for supporting a wind turbine assembly in a vertical position;

-preferably an active horizontal movement means mounted between the trolley on one side and the load coupling means and/or the wind turbine assembly engagement means on the other side, said active horizontal movement means being adapted to actively compensate for sea-state induced horizontal displacement of the wind turbine assembly engagement means in two non-parallel horizontal directions (e.g. in orthogonal horizontal directions) while the wind turbine assembly is supported in an upright position by the wind turbine assembly engagement means.

In another embodiment, the active horizontal movement means is connected to horizontal movement means linked to the wind turbine component holder for moving the load coupling means and/or the wind turbine component engagement means in accordance with the movement of the wind turbine component holder.

The invention further provides a mounting vessel for mounting and preferably transporting a cell pile and a wind turbine, the vessel comprising:

a hull forming an upright deck,

-a crane supported by the hull of the vessel adjacent the upright deck, wherein the crane comprises:

a crane base which is provided with a base,

a trolley guide, such as a rail comprising one or more guide rails, mounted to the boom of the crane; and

-a cart, wherein the cart is provided with wind turbine assembly engagement means configured to pivotably support a wind turbine assembly at its top end, or wherein the cart is configured to receive a wind turbine assembly engagement means and/or a load coupling means supporting a wind turbine assembly engagement means.

-a truck track extending along the upright deck;

-a support trolley for supporting the bottom end of the wind turbine assembly, wherein the support trolley is supported by the trolley track such that the trolley is movable along the trolley track for guiding the bottom end of the wind turbine assembly along the upright deck from a position remote from the crane to a position adjacent the crane; and

a gripper extending outside the profile of the vessel, for example a single pile for guiding lowering in a vertical position into the water in the vicinity of the vessel, or a floating base for engaging and preferably stabilizing a tower,

wherein the trolley is coupled with a trolley guide to be guided along a boom of a crane for guiding a top end of a wind turbine assembly along the trolley guide while erecting a mono pile, while a bottom end of the wind turbine assembly is guided by a trolley and an erecting rail.

The invention further provides a mounting vessel for mounting and preferably transporting a wind turbine component, such as a mono pile or a tower, the mounting vessel comprising:

a hull forming an upright deck,

-a crane base, a crane housing and a swivel bearing arranged between the crane housing and the crane base, the swivel bearing enabling the crane housing to swivel about a vertical swivel axis;

-a boom extending between a base end and a top end, wherein the boom is pivotally supported by the crane housing at the base end for pivoting about a horizontal boom pivot axis between a lowered position and a raised position to lift and move a load towards or away from the crane base;

-a pitch winch and associated pitch cable, wherein the pitch winch is mounted on the crane housing and the pitch cable extends between the pitch winch and the boom to enable the boom to pivot between a lowered position and a raised position; and

-a lift comprising a lifting winch and an associated lifting cable, wherein the lifting cable is guided via an upper pulley assembly in the boom to a lower pulley assembly of a load coupling device for coupling with a load (e.g. a top end of a wind turbine assembly) to enable the lift to lift the load using the lifting winch;

-a truck track extending along the upright deck;

a gripper extending outside the profile of the vessel, for example for guiding a mono-pile lowered in a vertical position into the water in the vicinity of the vessel, or for engaging a foundation for mounting a tower;

a trolley coupled with the trolley guide to be guided along the boom of the crane, wherein the trolley is configured to engage the load coupling means to guide the load coupling means and thus for guiding the top end of the wind turbine assembly supported by the load coupling means along the trolley guide while erecting the wind turbine assembly using the elevator,

wherein the boom of the crane is pivotable in an upright position for erecting a wind turbine assembly, wherein the bottom end of the wind turbine assembly is guided by a trolley and an upright rail and the top end of the wind turbine assembly is guided by a trolley and a trolley guide, and wherein the vessel further comprises a boom securing device comprising a stop for positioning the boom in the upright position and a boom locking device for securing the boom in the upright position and/or a boom mover for moving the boom out of the upright position and away from the boom securing device, such as a hydraulic cylinder for pushing the boom away from the upright position or a winch with associated cables for pulling the boom away from the upright position.

The invention further provides a mounting vessel for mounting and preferably transporting a cell pile for supporting a wind turbine, the mounting vessel comprising:

a hull forming an upright deck,

-a lift comprising a lifting winch and an associated lifting cable, wherein the lifting cable is guided via a top trolley to a load coupling device for coupling with a load (e.g. the top end of a cell pile) to enable the lift to lift the load using the lifting winch;

-a truck track extending along the upright deck;

-a support trolley for supporting the bottom end of the cell pile, wherein the support trolley is supported by the trolley track such that the trolley is movable along the trolley track for guiding the bottom end of the cell pile along the upright deck from a position remote from the crane to a position adjacent the crane;

-a mono-pile gripper extending outside the contour of the vessel for guiding the mono-pile lowered in a vertical position into the water in the vicinity of the vessel;

a trolley coupled with the trolley guide to be guided along the boom of the crane, wherein the trolley is configured to engage the load coupling device to guide the load coupling device and thus to guide the top end of the cell pile supported by the load coupling device along the trolley guide while erecting the cell pile using the elevator,

Wherein the boom of the crane is pivotable in an upright position for erecting the cell pile, wherein the bottom end of the cell pile is guided by the trolley and the upright rail and the top end of the cell pile is guided by the trolley and the trolley guide.

Herein, when the boom of a crane is in a raised, upright position, the proximity of the crane is considered to be within reach of the crane.

According to a further aspect, the present invention provides a vessel capable of transporting pre-assembled wind turbines or parts thereof and configured for assembling the wind turbines at or near an installation site. In particular, the vessel is configured for erecting a tower of a wind turbine, and preferably for mounting and testing a nacelle, a hub and blades on the tower. The lifting device or erection crane according to the first aspect of the invention allows erection of the tower of the wind turbine offshore. In particular, the tower can be erected in a controlled manner due to the erection boom of the erection crane. Furthermore, in embodiments, lifting devices or upright cranes may also be used to assemble wind turbines.

The present invention thus enables the assembly of wind turbines offshore, thereby eliminating the need for expensive wind turbine installation plants located near harbors. Furthermore, it is not necessary to transport the assembled wind turbine at sea, which is time consuming and can only be done within a limited weather window.

In this method, a seabed-based or floating-type wind turbine foundation may be pre-installed, and an upright crane may be used to mount the assembled wind turbine, i.e. the tower with nacelle, hub and blades, on the foundation.

According to a second aspect, the invention further provides a vessel for offshore installation of a pile for supporting a wind turbine according to claim 30.

The vessel according to the second aspect comprises a hull, lifting means and pile clamps,

wherein the vessel comprises an erection deck extending in the longitudinal direction X of the vessel, the bottom end of the pile being movable from a position longitudinally remote from the lifting means, e.g. at the bow of the vessel, to a position adjacent to the base of the lifting means, e.g. at the stern of the vessel, along a locus extending in the longitudinal direction (X) of the vessel, for erection by operation of the lifting means for lifting the top end of the pile, wherein the pile is erected in its upstanding orientation along the lifting means in a supporting position,

wherein the pile holder comprises

-a gripper base via which the pile grippers are supported by the hull, and

a clamping device configured to engage the upright oriented pile at its lower end so as to limit the movement of the pile in the X-Y plane, i.e. perpendicular to the longitudinal axis of the pile, with respect to the holder base,

Wherein the pile gripper has a receiving mode in which the opening of the gripping means is directed towards the standing deck, such that the pile can pass through said opening with its bottom end when standing in its in-ship supporting position to its standing orientation,

and wherein the pile holder has a guiding mode in which a bottom end of a pile passing through the opening and being oriented upright in an inboard support position is extendable through the holding means and circumferentially engaged at its exterior by the pile holder.

The gripper is configured to be mounted on the deck of the vessel such that an opening of the gripper for receiving the bottom end of the pile faces the upright deck. In the prior art, the opening of the pile holder is usually facing away from the vessel.

According to a second aspect, the gripper is configured to receive the bottom end of the pile at the end of the erection process. More specifically, the grippers are configured to position the opening of the gripping device towards the erection deck to receive the bottom end of the pile at the end of the erection process.

The grippers can receive and engage the bottom end of the pile while the bottom end is still connected to a truck that guides the bottom end along the erecting deck during the erecting process. Thus, the stake may be engaged by the grippers prior to release from the truck, and the position of the bottom end of the stake is continuously controlled. Thus, there is no moment in time when the pile is uncontrolled and may be subject to swinging during transfer from the carrier to the gripper, for example due to movements of the vessel and a lifting device mounted on the vessel and supporting the pile.

In an embodiment, the gripper is provided with a gripper ring for engaging and guiding the pile in a vertical direction, the gripper ring being provided with one or more jaws for providing the ring in an open state with an opening for receiving the pile, and for closing the opening in a closed position such that the gripper ring encloses the pile's bottom end. In another embodiment, the ring is movably supported by the holder base so that the ring can pivot about a vertical axis, and the opening can be changed in a position facing towards the standing deck for receiving the bottom end of the pile after standing and facing away from the standing deck (more preferably facing away from the vessel) so that the top end of the pile can be removed from the holder once driven into the seabed. In such embodiments, the gripper is configured to change the position of the opening of the gripper ring.

The invention further provides a vessel comprising an erection deck and a pile holder according to the second aspect, wherein the pile holder is mounted on the hull of the vessel and the opening of the pile holder is positionable towards the erection deck for receiving the bottom end of the pile at the end of the erection process.

According to a third aspect, the invention provides a vessel for offshore installation of a pile for supporting a wind turbine according to claim 1.

The vessel according to the third aspect of the invention comprises a hull, a lifting device and a pile holder and has an X-Y plane, wherein the lifting device comprises

A base via which the lifting device is supported by the hull,

an elongated upright superstructure is provided,

-a lifting assembly connected or connectable to a pile engagement device configured to engage a top end of a pile, optionally via a coupling for coupling to such a pile engagement device, and configured to support the pile engagement device, e.g. via a coupling in case of presence, and to move the pile engagement device in a direction along an upstanding superstructure between a lower position, in which the pile engagement device is located at or near a base of the lifting device in a Z-direction of the vessel, and an upper position, in which the pile engagement device is remote from the base in the Z-direction, wherein the pile extends in an upstanding orientation along the upstanding superstructure for inboard erection of the pile and outboard lowering of the pile.

The post engagement means and the coupler, if present, are configured and arranged on the superstructure to limit movement of the engaged tip relative to the superstructure in a plane perpendicular to the longitudinal axis of the engaged post.

The pile holder includes:

-a gripper base via which the pile grippers are supported by the hull, and

-a gripping device configured to engage the upright oriented pile at its lower end so as to limit the movement of the pile in the X-Y plane, i.e. perpendicular to the longitudinal axis of the pile, with respect to the gripper base, and to guide the vertical movement of the pile by means of said gripping device, i.e. in the direction of the longitudinal axis of the pile.

The pile engaging means and the gripping means are capable of moving from an inboard support position, in which the pile engaging means is in an upper position and the pile is above the hull, to an outboard installation position of the pile, in which the pile is outboard of the contour of the vessel, by each being movable in an X-Y plane of the vessel relative to the vessel, while being movable relative to the hull from the inboard support position to the outboard installation position of the pile, in which both engage the pile while supporting the pile.

The lifting device further comprises one or more displacement actuator assemblies operating between the vessel and the pile engaging device, for example between the base and the superstructure of the lifting device. The base of the pile gripper further comprises one or more displacement actuator assemblies operative between the gripper base and the gripping means for actuating movement of the pile engaging means and the gripping means from the inboard support position to the outboard installation position.

The vessel according to the third aspect of the invention provides a vessel that is particularly efficient in terms of the overboard placement of piles that have been erected on the vessel by lifting means that lift their top ends, while the bottom ends are moved along the vessel's erected deck towards said lifting means.

This efficiency results from at least two effects of simultaneous movability of the pile engaging means and clamping means from the support position to the installation position.

Firstly, the transfer of the pile into the pile holder is omitted, as is known in the art, the gripping means of the pile holder having been in an overboard mounting position for receiving the pile in that position, since the pile (in particular its bottom end) can be extended in the overboard mounting position, the overboard supporting position, already within the pile holder, directly after erection. Finally, erection in the inboard installation position is completed. This known transfer is time consuming and requires advanced positioning control, as it requires careful positioning of the pile into the clamping device. Furthermore, such positioning occurs outside the vessel, which may further complicate positioning and control thereof under the influence of ocean motion and wind. Positioning must be achieved by the lifting device, which places additional demands on the lifting device, taking into account of the huge size and weight of the piles that must be handled by the lifting device. Furthermore, additional requirements may be placed on the gripping device, as it must be adapted to receive the pile from the lifting device. Thus, omitting such positioning may provide significant advantages.

Second, the need to engage the pile (in particular the bottom end of the pile) by lifting means after erection in order to limit the movement of the pile in the X-Y plane is eliminated, which is necessary for safely displacing the upstanding pile to the overboard gripping means in addition to the engagement of the top end by the pile engaging means. According to the invention, the bottom end of the pile is guided by the pile gripper during displacement and confined in the X-Y plane.

The invention is based on the insight that the mobility of the gripping device in synchronization with the crane provided according to the invention, and the additional control necessary for actuating this movement, in fact results in a more efficient installation. The investment in such additional control and mobility is at first glance cumbersome for a person skilled in the art, and of course, when multi-pile installations are carried out with the same vessel, at least when configured and arranged according to claim 1, it is actually expected that at least the advantages thereof are exceeded in terms of installation efficiency.

In an embodiment for mounting a vessel, the lifting device comprises a swivel bearing between the base of the lifting device and the upstanding superstructure, wherein the swivel bearing enables the superstructure to swivel relative to the base about a swivel axis extending in the Z-direction of the vessel. In the X-Y plane of the vessel, wherein the movement of the pile from the inboard support position to the outboard installation position involves rotation of both the pile engaging means and the gripping means, the pile is thus rotated about the swivel axis of the lifting means when engaged.

In an embodiment of the installation vessel, the clamp base comprises one or more clamp guides, e.g. clamp rails, mounted to the deck of the hull and defining a rail for the clamping means, the clamping means comprising one or more shoes, e.g. rollers, for engaging the rail, wherein the movement of the clamping means from the inboard support position to the outboard installation position of the pile comprises moving the clamping means along the rail.

In an embodiment of the installation vessel, the movement of the gripping means from the inboard support position of the pile to the outboard installation position has a movement track for the pile engagement means defined by the slewing bearing of the lifting means and for the gripping means defined by its track, which track is a curved track, for example, wherein the movement track is in the shape of a circular section.

In an embodiment of the installation vessel, the base of the lifting device and the gripper base are spaced apart from each other, considered in the X-Y plane of the vessel, and the movement of the pile from the inboard support position to the outboard installation position has a movement track passing between the base of the lifting device and the gripper base.

In embodiments where the vessel is installed, movement of the pile from the inboard support position to the outboard installation position includes relative movement of the pile engaging means relative to the base of the lifting means as opposed to relative movement of the gripping means relative to the base of the gripper.

In an embodiment of the installation vessel, the movement of the gripping means from the inboard support position of the pile to the outboard installation position has a movement track for the pile engagement means defined by the slewing bearing of the lifting means and for the gripping means defined by its track, which is a linear track, for example, wherein the movement track is a track section parallel to the linear axis of the vessel.

In an embodiment, the lifting device and/or the pile gripper is provided with active horizontal movement means adapted to move the pile engagement means and/or the gripping means with respect to the base of the lifting device and the gripper base, respectively, to actively compensate for a horizontal displacement of the wind turbine assembly engagement means in two non-parallel horizontal directions (e.g. in orthogonal horizontal directions) caused by sea conditions, while the wind turbine assembly is supported in an upright position by the wind turbine assembly engagement means.

In a further embodiment, active horizontal movement means of the lifting means and/or the pile grippers are used to keep the pile engaging means and the gripping means vertically aligned, i.e. to keep the wind turbine assembly in a vertical upright position when it is moved from the inboard support position to the outboard installation position, when the wind turbine assembly is moved from the inboard support position to the outboard installation position, while being supported at the top end by the pile engaging means and being engaged at the bottom end by the gripping means.

In an embodiment, a control system linked to the active horizontal movement device of the pile gripper is provided, wherein the control system is configured to move the gripping device relative to the swivel axis of the lifting device to keep the gripping device vertically aligned with the pile engaging device while the wind turbine assembly is moved from the inboard support position to the outboard installation position, e.g. the gripping device is moved from the inboard support position to the outboard installation position along a curved (e.g. circular segment shaped) trajectory of the pile engaging device.

In an embodiment, a control system of active horizontal movement devices linked to the lifting devices and the pile grippers is provided, wherein the control system is configured to move the pile engaging devices and/or the grippers relative to the swivel axes of the respective lifting devices and pile grippers to keep them vertically aligned while the wind turbine assembly is moved from the inboard support position to the outboard installation position (e.g. from the inboard support position to the outboard installation position along a linear trajectory).

In an embodiment of the installation of the vessel, the vessel comprises a recess at the stern of the vessel in the longitudinal direction (X) of the vessel, which recess is laterally flanked by two deck portions, wherein a movement trajectory from an inboard support position to an outboard installation position extends laterally between the two deck portions, and wherein the outboard installation position is within the recess, considered in the X-Y plane of the vessel.

In an embodiment of the installation vessel, the base of the lifting device is located on one side of the recess, e.g. at least partly on one of the two deck sections, and the holder base is located on the other side of the recess, e.g. at least partly on the other of the two deck sections.

In an embodiment of the installation vessel, the vessel comprises an erection deck along which the bottom end of the pile is movable from a position longitudinally distant from the base of the lifting device, e.g. at the bow of the vessel, to a position adjacent to the base of the lifting device, e.g. at the stern of the vessel, along a trajectory extending in the longitudinal direction (X) of the vessel, for erection by operating the lifting assembly of the lifting device for lifting the top end of the pile, wherein the pile is erected along the upstanding superstructure to its upstanding orientation in an inboard support position.

In an embodiment of the installation vessel, the clamping device comprises a ring comprising a plurality of pile engaging tools distributed circumferentially around the ring, each pile engaging tool being adapted to engage an outer portion of a pile extending through the ring in its upright orientation, e.g. each pile engaging tool comprising one or more pile guide rollers.

In an embodiment of the installation vessel, the ring of the clamping device comprises a ring base and one or more movable jaws, e.g. two jaws, forming respective sections of the ring and being movable between a closed position in which the ring forms a closed loop and an open position in which a pile can penetrate laterally into and out of the ring through an opening in the loop between the jaws.

In an embodiment of the installation vessel, the ring of the clamping device is pivotable relative to the clamp base about a central pivot axis of the ring in its closed position by means of one or more ring pivot actuators, such that the opening between the jaws in the open position of the ring is movable from an angular position relative to the central pivot axis, in which the opening faces the standing deck of the hull of the vessel in the inboard support position of the pile, and an angular position relative to the central pivot axis, in which the opening faces the water surface, including in the outboard installation position of the pile.

In an embodiment of the installation vessel, the vessel further comprises a control unit operatively connected to the displacement actuator assembly of the lifting device and the displacement actuator assembly of the gripper and programmed for simultaneously operating the lifting device and the actuator assembly of the pile gripper to simultaneously move the pile engaging device and the gripping device relative to the vessel and thereby move the engaged and supported pile from the inboard support position to the outboard installation position.

In an embodiment of the installation vessel, the lifting device is a crane, the base of the lifting device is a crane base, the upright superstructure is an upright crane superstructure, and the lifting device is a lifting assembly comprising one or more lifting winches and one or more associated lifting cables.

In an embodiment of the installation vessel, the upstanding superstructure of the lifting device is provided with a trolley guide extending along the upstanding superstructure in the longitudinal direction of the upstanding superstructure, for example a track comprising one or more guide rails, and the pile engaging means is arranged on the superstructure via a trolley (e.g. via a coupling, if present) movable along the guide, for example by means of its connection to the trolley or to the pile engaging means and/or the coupling of the pile engaging means.

In an embodiment of the installation vessel, the lifting assembly comprises an upper sheave assembly at the upright superstructure, and the lifting assembly is connected or connectable to the pile engagement means and/or couplings of the pile engagement means via load coupling means comprising a lower sheave assembly, for example by means of its connection to the trolley, the lifting cable being arranged as a multiple of rumble ropes passing through the upper sheave assembly and the lower sheave assembly, to enable the crane to lift a load using the lifting winch.

In an embodiment for installing a vessel, the crane superstructure comprises

-a crane housing, and

the crane further comprises:

-a pitch winch and associated pitch cable, wherein the pitch winch is mounted on the crane housing and the pitch cable extends between the pitch winch and the boom to enable the boom to pivot about the horizontal boom pivot axis between a lowered position and a raised upright position.

In an embodiment of the installation of the vessel, the pile holder comprises an active motion compensation actuation system for moving the holding device relative to the vessel in an X-Y plane of the vessel, wherein the actuation system comprises an active sea state induced motion compensation mode in which the actuation system is operated to compensate for sea state induced motions of the vessel in the X-Y plane, including keeping the overboard installation position unaffected by sea state induced vessel motions.

In an embodiment of the vessel mounted, the active motion compensation actuation system of the gripper comprises one or more first rails, e.g. rails, extending non-parallel to each other in the X-Y plane of the vessel, and one or more second rails, e.g. rails, movable on the first rails, the actuation system further comprising one or more first compensation actuators operating between the first and second rails for moving the second rails on the first rails, and one or more second compensation actuators operating between the second rails and the gripping device for moving the gripping device on the second rails.

In an embodiment of the installation vessel, the pile engagement device and optionally its coupling, if present, are arranged on an active motion compensation actuation system of the trolley of the lifting assembly, wherein the active motion compensation actuation system is configured for moving the pile engagement device relative to the trolley guide in the X-Y plane of the vessel, e.g. via its coupling, if present, wherein the actuation system comprises an active sea state induced motion compensation mode in which the actuation system is operated to compensate sea state induced motion of the vessel in the X-Y plane, including keeping the overboard installation position unaffected by sea state induced vessel motion.

In an embodiment of the installation vessel, the active motion compensation actuation system of the cart comprises one or more first rails, e.g. rails, extending non-parallel to each other in the X-Y plane of the vessel, and one or more second rails, e.g. rails, movable on the first rails, the actuation system further comprising one or more first compensation actuator assemblies operative between the first and second rails for moving the second rails on the first rails, and one or more second compensation actuator assemblies operative between the second rails and the pile engagement device and/or coupling of the pile engagement device for moving the pile engagement device and/or coupling on the second rails.

In an embodiment of the installation vessel, the control unit is operatively connected to the active motion compensation actuation system of the lifting device and the pile holder and programmed to operate the active motion compensation actuation system of the lifting device and the pile holder simultaneously for moving the pile engaging device and the clamping device synchronously and accordingly in an X-Y plane of the vessel with respect to the vessel, thereby compensating for sea-state induced motions of the vessel in the X-Y plane, including keeping the overboard installation position unaffected by sea-state induced vessel motions.

According to a third aspect, the invention further provides a pile holder for a vessel according to the third aspect of the invention according to claim 23.

The pile holder includes:

-a clamp base, the pile clamp being configured to be secured to a hull of a vessel via the clamp base, and

a gripping device configured to engage an upstanding oriented pile at a lower end of the pile to limit horizontal movement of the pile relative to the hull of the vessel when the gripper base is secured to the pile and to guide movement of the pile through the gripping device parallel to the upstanding longitudinal axis of the pile,

wherein the base of the pile holder provides the mobility of the holding means such that when the base of the pile holder is secured to the hull near the edge of the hull, the holding means is movable relative to the vessel from an inboard support position for the pile above the hull to an outboard installation position for the pile outside the contour of the vessel while engaging the lower end of the pile in an upright orientation and restricting the horizontal movement of the pile to guide the movement of the pile when supported at least in part via the pile engaging means of the lifting means which simultaneously performs the same,

Wherein the clamp mount further comprises one or more displacement actuator assemblies operative between the vessel and the clamping device for moving the clamping device relative to the vessel when the clamp mount is secured to the vessel near the edge of the vessel, for actuating movement of the clamping device from an inboard support position to an outboard installation position,

wherein the movement of the gripping means from the inboard support position of the post to the outboard installation position preferably has a trajectory that is shaped relative to the circular section of the vessel.

The third aspect of the invention further relates to a vessel provided with such a pile clamp, wherein the clamp base is secured to the hull of the vessel near the edges of the hull.

According to a third aspect, the invention further provides a lifting device for a vessel according to the third aspect of the invention as claimed in claim 25.

The lifting device according to the third aspect of the present invention comprises:

a base, via which the lifting device is configured to be secured to the hull for support,

an elongated upright superstructure is provided,

a lifting assembly connected or connectable to a pile engaging means configured to engage a top end of a pile, optionally via a coupling for coupling to such a pile engaging means, and configured to support the pile engaging means, for example via a coupling in case of presence, and to move the pile engaging means in a direction along an upstanding superstructure between a lower position in which the pile engaging means is located at or near a base of the lifting means in a Z-direction of the vessel and an upper position in which the pile engaging means is remote from the base in the Z-direction, wherein the pile extends in an upstanding orientation along the upstanding superstructure for inboard erection of the pile and outboard lowering of the pile,

Wherein the pile engaging means and the coupling, if present, are configured and arranged on the superstructure to limit movement of the engaged tip relative to the superstructure in a plane perpendicular to the longitudinal axis of the engaged pile,

wherein, when the base is secured to the hull near the hull edge by its movability relative to the vessel, for example relative to the base of the lifting device, said pile engaging device is capable of moving the pile relative to the hull from an inboard support position where the pile engaging device is in an upper position and where the pile is above the hull, to an outboard mounting position where the pile is outside the profile of the vessel, while engaging the pile and at least partially supporting the engaged pile via the top end of the engaged pile, so as to move the pile while guided by the clamping device of the pile clamp performing the same movement,

wherein the lifting device further comprises one or more displacement actuator assemblies operating between the vessel and the pile engaging device, for example between the base of the lifting device and the superstructure, for actuating movement of the pile engaging device from an inboard support position to an outboard installation position when the base of the lifting device is secured to the hull.

A third aspect of the invention further relates to a vessel provided with such a lifting device, wherein the clamp base is secured to the hull of the vessel near the edges of the hull.

The third aspect of the invention further relates to a vessel provided with such a pile clamp, wherein the clamp base is fixed to the hull of the vessel near the edges of the hull.

According to a third aspect, the invention further provides a control unit for a vessel according to the third aspect of the invention as claimed in claim 27.

The control unit according to the third aspect of the invention is configured to be operatively connected to the displacement actuator assembly of the lifting device and the displacement actuator assembly of the pile gripper and is programmed for simultaneously operating the lifting device actuator and the gripper actuator to simultaneously move the pile engaging device relative to the vessel and thereby move the engaged and supported pile from the inboard support position to the outboard installation position.

In an embodiment, the control unit is configured to be operatively connected to the active motion compensation actuation system of the lifting device and the pile holder and programmed to operate the active motion compensation actuation system of the lifting device and the pile holder simultaneously for moving the pile engaging device and the holding device synchronously and accordingly in an X-Y plane of the vessel with respect to the vessel, thereby compensating for sea-state induced motions of the vessel in the X-Y plane, including keeping the overboard mounting position unaffected by vessel motions.

In an embodiment, the control unit is configured to be operatively connected to the ring swivel actuator and programmed to operate the swivel actuator to face the opening towards the standing deck before reaching the in-ship support position of the pile, such that the pile is able to pass through the opening at its bottom end when it is standing in its standing orientation in the in-ship support position, and to face the opening towards the water surface after the pile has reached the in-ship support position, preferably after operating the displacement actuator assembly of the lifting device and the pile gripper to move the pile to the out-of-ship installation position.

In an embodiment, the lifting means is provided at the end of the vertical deck and in line with the vertical deck. In such embodiments, the pile gripper is arranged to receive the lower end of the pile after it has been erected. In such embodiments, the upstanding pile (more particularly its lower end) is preferably introduced into the collar of the pile holder, more particularly moved through the opening of the collar, by movement of the slewing crane while supporting the pile in an upstanding upright position. Once the lower end of the pile is introduced into the pile holder and the opening of the ring is closed, the lifting means (more particularly the pile engaging means) and the pile holder (more particularly the gripping means) are simultaneously moved relative to the hull from an inboard support position, in which the pile engaging means is in an upper position and the pile is above the hull, to an outboard installation position, in which the pile is outside the contour of the vessel, when both engage the pile while supporting the pile.

According to a fourth aspect, the invention further provides a pile holder for a vessel according to the third aspect of the invention.

The pile holder according to the fourth aspect of the present invention comprises:

a gripping device configured to engage a vertically oriented pile at a lower end of the pile to limit horizontal movement of the pile relative to a hull of the vessel when the gripper base is secured to the pile and to guide movement of the pile through the gripping device parallel to an upright longitudinal axis of the pile,

wherein the base of the pile gripper provides the mobility of the gripping means such that, when the base of the pile gripper is secured to the hull near the edge of the hull, the gripping means is movable relative to the vessel from an inboard support position where the pile is above the hull to an outboard installation position where the pile is outside the contour of the vessel, while engaging the lower end of the pile in an upright orientation and limiting the horizontal movement of the pile to guide the movement of the pile while the pile is at least partially supported via the pile engaging means of the lifting means which simultaneously performs the same,

wherein the clamping means comprises a ring comprising a plurality of pile engaging tools distributed circumferentially around the ring, each pile engaging tool being adapted to engage an outer portion of a pile extending through the ring in its upstanding orientation, e.g. each pile engaging tool comprising one or more pile guide rollers,

wherein the ring of the clamping device comprises a ring base and one or more movable jaws, e.g. two jaws, forming respective sections of the ring and being movable between a closed position, in which the ring forms a closed loop, and an open position, in which a pile can penetrate laterally into and out of the ring through an opening in the loop between the jaws,

Wherein the ring of the clamping device is pivotable relative to the clamp base about a central pivot axis of the ring in its closed position, such that the opening between the jaws in the open position of the ring is movable from the clamp base to the hull in an inboard support position of the pile facing the angular position of the upstanding deck of the vessel relative to the central pivot axis and in an outboard mounting position of the pile facing the water surface.

Thus, with the pile gripper according to the fourth aspect of the invention, the gripper is provided with a pivotable gripper ring for engaging the bottom end of the pile and guiding the pile in the vertical direction. By rotating the ring part the position of the opening can be adjusted and the ring part can receive and release the pile, or at least the bottom end of the pile, in different directions. This arrangement enables the grippers to engage a pile still supported above the deck, for example a pile supported above the erecting deck at the end of the erecting process, for guiding the bottom end of the pile while the pile is moved from an inboard position to an outboard position with the opening closed, and for releasing the pile with the opening facing away from the vessel.

The pile holder according to the fourth aspect of the invention is arranged to engage the bottom end of the pile in an upright position, for example at the end of an erection process, for guiding the bottom end, for example while moving from an inboard position to an outboard position, and for releasing the pile in an upright position, for example after the pile has been driven into the seabed. Thus, the pile gripper is able to fully control the position of the bottom end of the pile driven into the seabed from erection, thereby improving the process of installing the foundation pile offshore.

The invention further provides a vessel for offshore installation of a pile for supporting a wind turbine, the vessel comprising a hull, lifting means and a pile gripper according to the fourth aspect of the invention, and wherein the pile gripper is secured to the hull of the vessel near an edge of the hull by mounting the gripper base to the hull.

According to a fourth aspect, the invention further provides a pile holder comprising a ring which is pivotable relative to a holder base about a central pivot axis of the ring. The pile holder comprises:

Herein, the X-Y plane of the vessel has an X-direction corresponding to the longitudinal direction of the vessel and a Y-direction corresponding to the transverse direction of the vessel and perpendicular to the X-direction as known in the art. The X-Y plane is spanned by the X direction and the Y direction. The vessel also has a Z direction perpendicular to the X-Y plane. Thus, when the vessel is balanced floating on a perfectly flat water surface, the X-Y plane is horizontal and the Z direction is vertical.

Advantageous embodiments of the erection crane and the installation vessel according to the invention and of the method according to the invention are disclosed in the sub-claims and in the description, in which the invention is further shown and described on the basis of a number of exemplary embodiments, some of which are shown in a schematic drawing. In the drawings, corresponding components in terms or structure and/or function are assigned the same last two digits of the reference numeral.

Those skilled in the art will appreciate that the features discussed herein as essential or optional with respect to one embodiment or aspect of the invention may be equally applicable to one or more other embodiments or aspects described herein, wherein the features perform their specified functions. Such combinations are contemplated herein unless the combination would result in a technically impossible solution and/or would not satisfy the desired function.

Drawings

The present invention will now be described with reference to the accompanying drawings. In the drawings:

figure 1 shows in a view an embodiment of a pile-mounted vessel according to the invention at the beginning of the erection phase,

figures 2-4 show the same vessel in the pile erection process in the same view,

figure 5 shows the same vessel in the same view at the end of the erection stage,

figure 6 shows the same vessel in the same view at the beginning of the displacement phase,

figure 7 shows the same vessel in the same view during displacement of an erect pile,

figure 8 shows in the same view the same vessel at the end of the displacement phase and at the beginning of the stabilizing phase,

fig. 9 shows the same situation during the stability phase in the same view, i.e. after lowering the pile towards the sea bottom,

fig. 10 shows in the same view the same vessel during the stabilization phase, i.e. when picking up the piling device,

fig. 11 shows the same vessel during the stabilization phase in the same view, i.e. after displacement of the piling device,

fig. 12 shows the same vessel at the end of the stabilization phase in the same view, i.e. after operation of the piling device,

figure 13 shows the same vessel in the pile release process in the same view,

Figure 14 shows in side view the same vessel according to the invention at the beginning of the erection stage,

figure 15 shows the same vessel in the pile erection process in the same side view,

figure 16 shows the same vessel in the same side view at the end of the erection stage,

figure 17 shows the same vessel in the beginning of the displacement phase in the same side view,

figure 18 shows the same vessel in the same side view after displacement of the erect pile and during the stabilisation stage (i.e. after lowering of the pile),

figure 19 shows the same vessel in top view at the beginning of the erection stage,

figure 20 shows the same vessel in the pile erection process in the same top view,

figure 21 shows the same vessel in the same top view at the end of the erection stage,

figure 22 shows the same vessel in the beginning of the displacement phase in the same top view,

figure 23 shows the same vessel in the same top view after displacement of the erect pile and during the stabilisation phase (i.e. after lowering of the pile),

fig. 24 shows a schematic top view of an exemplary embodiment of a mounting vessel provided with an upright crane or lifting device;

fig. 25 shows a schematic side view of a crane according to the invention, with the boom in an upright position and depicting the trolley in a first and a second position;

FIG. 26 shows a schematic side view of the crane of FIG. 26 with the boom of the crane in an upright position and in a lowered position and the trolley resting on a section of the trolley guide on the crane base;

FIG. 27 shows a schematic top view of another exemplary embodiment of a mounting vessel provided with an upright crane and an upright deck aligned with a central axis of the vessel;

FIG. 28 shows the vessel of FIG. 27, wherein the boom of the upright crane is depicted in both a raised upright position and a lowered position;

FIG. 29 shows a side view of the vessel of FIG. 27 with the erection crane and storage crane supporting the wind turbine assembly;

FIG. 30 shows a side view of the vessel of FIG. 27 (with the boom of the erection crane in an erect position) and shows the mono-pile depicted in a plurality of intermediate positions of the erection process;

FIG. 31 shows a rear view of the vessel of FIG. 30 and shows a crane supporting the cell pile in a holder at the stern of the vessel;

FIG. 32 shows a rear view of the vessel of FIG. 30 and shows a crane lowering the cell pile towards the seabed, the cell pile being guided by a gripper;

Fig. 33 shows a rear view of the vessel of fig. 30 and shows a crane supporting a hammer (hammer) for driving a cell pile into the seabed;

FIG. 34 shows a tower depicted in a plurality of intermediate positions during erection;

FIG. 35 shows an upright crane with a nacelle mounted on a tower, the tower being supported in an upright position;

FIG. 36 shows an upright crane supporting an assembled wind turbine in an off-board position (i.e., outside the profile of a vessel) in an installed position;

FIG. 37 shows a top view of another exemplary embodiment of a vessel configured for transporting a wind turbine assembly, assembling a wind turbine and mounting the assembled wind turbine on a foundation, wherein the vessel is provided with an upright crane and an upright deck aligned with a central axis of the vessel;

FIG. 38 shows a schematic side view of the crane of FIG. 37 with the boom of the crane in an upright position and the trolley supporting blade mounting devices supporting blades adjacent to the nacelle of the wind turbine being assembled;

FIG. 39 shows a close-up of the blade installer of FIG. 38;

fig. 40 shows a top view of another exemplary embodiment of a vessel provided with an upright crane (of which only the crane base is depicted), an upright deck aligned with the central axis of the vessel, and a gripper for guiding the cell pile, which gripper is supported on the deck of the vessel, wherein the gripper is positioned to receive the lower end of the cell pile supported by the upright crane;

FIG. 41 shows a top view of the vessel of FIG. 40 with the gripper moved with a crane to transfer the joystick from the on-board position to the off-board position; and

fig. 42 shows a top view of the vessel of fig. 40 with the grippers positioned to guide the cell piles in the installed position.

Detailed Description

Fig. 1-23 illustrate a pile-mounting vessel according to all aspects of the present invention.

The figures show different stages of a method for offshore installation of a cell pile 10 for supporting a wind turbine. The vessel 1 is adapted for use in such a method. However, the vessel 1 is also suitable for mounting other wind turbine components in a similar manner. Such as other types of piles, towers of wind turbines and rotor blades.

Installation involves the storage of the wind turbine components on a vessel in its horizontal orientation during travel of the vessel 1 towards the offshore installation site for the components. Once the installation site is reached, the actual installation method shown in the drawings is performed. This includes erecting the assembly on the vessel to an upright orientation, displacing the erected assembly along the X-Y plane to an outboard installation position, displacing the assembly outboard in the Z direction to secure it in the installation position, and releasing the assembly from the vessel 1.

The vessel 1 comprises a hull 2, a lifting device 3, an upright deck 4 with carrier rails 5 and supporting carriers 6, and pile holders 7. In the embodiment shown, two storage decks 8 are provided on both sides of the erection deck 4 for storing a plurality of mono-piles to be installed during transfer of the vessel 1 to the installation site. The standing deck 4 extends in the X-direction in the lateral centre of the vessel 1. In the embodiment shown, the vessel 1 is further provided with an optional storage crane 9. The vessel 1 has an X-direction corresponding to the longitudinal direction of the vessel 1 and a Y-direction corresponding to the transverse direction of the vessel 1 and perpendicular to the X-direction as known in the art. The vessel 1 has an X-Y plane spanned by an X-direction and a Y-direction. It also has a Z direction perpendicular thereto. When the vessel 1 floats in equilibrium on a perfectly flat water surface, the X-Y plane is horizontal and the Z direction is vertical.

In the embodiment shown, the vessel 1 has a non-jack-up floating hull 2 and is configured to maintain position and orientation relative to the installation site for the piles 10. Thus, the vessel 1 can be positioned near the cell pile installation site and the cell pile installed using the cell pile grippers 7 without having to anchor the vessel 1 by means of time-consuming deployment of jack-up legs.

The hull 2 forms an erection deck 4 and a storage deck 8, which are both part of a single vessel deck. Three individual piles 10 are stored on the storage deck 8: two stacked on top of each other on the port side of the vessel 1 and one on the starboard side of the vessel 1. In another embodiment according to the invention, the storage deck may be provided with storage racks for individual piles, allowing stacking of a plurality of individual piles on each other.

Furthermore, the cell piles 10 are depicted on the upright deck 4 between the storage decks 8. The crane 1 and storage crane 9 are configured to engage and terminate the cell piles, respectively, thus lifting the cell piles from the storage deck 8 onto the upright deck 4, or vice versa. The crane 3 and storage crane 9 are further configured for lifting the cell pile 10 from a position adjacent to the vessel 1 (e.g. on a supply vessel such as a barge or on a quay) before moving the cell pile to a storage position on the storage deck 8.

Fig. 1-13 depict the installation in a view. In particular, fig. 1-5 depict the erection of the piles 10 on the erection deck 4 from an initial position in fig. 1, in which they are oriented horizontally (i.e. in the X-Y plane), to a ship support position in fig. 5, in the vicinity of the lifting device 3, in which the piles have an upright orientation (i.e. in the Z-direction). Fig. 6-8 depict the displacement of the pile 10 from the on-board support position of the pile 10 to the off-board installation position of the pile 10 of fig. 8. Figures 9-12 show the pile 10 secured in an installed position by lowering it towards the seabed (figure 9) and then piling to secure it in the seabed. Fig. 13 depicts the release of the pile 10 from the vessel 1.

For the erection phase, a lifting device 3, an erection deck 4 with trolley rails 5 and supporting trolleys 6 is used. The nature of being able to stand is first discussed and thus relates to the first aspect of the invention.

For erection, the lifting assembly of the lifting device is operated. The operation of the lifting assembly, in particular the operation of the winch 23 such that it articulates into the lifting cable 24, effects lifting of the top end of the pile. Along the standing deck 4, the bottom end of the pile 10 may be moved on a trajectory extending in the longitudinal direction X of the vessel 1 from a position longitudinally of the bottom end of the initial position of the pile 10, which in the depicted embodiment is at the bow of the vessel 1, away from the base 11 of the lifting device 3, to near the base 11 of the lifting device 3, which in the depicted embodiment is at the stern of the vessel 1. By lifting of the top end and rearward movement of the bottom end in the X direction, the pile is erected to its upright orientation alongside the upright superstructure in the inboard support position.

In order to achieve lifting of the top end, the lifting device 3 comprises:

a base 11, via which the lifting device 3 is supported by the hull 2,

elongate upstanding superstructure 12, 18

A lifting assembly 14.

In the embodiment shown, the lifting device 3 is a crane-although other embodiments are suitable.

The crane 3 shown is an erect crane, in which the lifting assembly 14 comprises two lifts and the erect superstructure comprises a crane housing 18 and a boom 12, the boom 12 being in a fully raised erect position for erection, in which position the boom extends substantially in the Z-direction of the vessel 1.

Boom 12 extends between a base end 12a and a top end 12 b. Boom 12 is pivotally supported at a base end 12a by a crane housing 18 for pivoting about a horizontal boom pivot axis 20. Thus, the boom 12 may pivot between a lowered position and a fully raised upright position. In the drawings, boom 12 is depicted in a fully raised upright position. The lowered position serves as a storage position for the vessel during travel between the positions. By lowering the boom 12 when not in use, the overall centre of gravity of the vessel 1 is lowered, which improves the dynamic performance of the vessel 1.

The crane base 11 supports a slewing bearing 17 between the base 11 and the upright superstructure. The crane housing 18 of the upright superstructure in turn supports the boom 12 of the superstructure. The slewing bearing 17 is arranged between the crane housing 18 and the crane base 11. The swivel bearing 17 enables the crane housing 18 and thus the boom 12 supported by the crane housing to swivel about a vertical swivel axis 19 of the crane.

Each elevator 14 includes an elevator winch 23 and an associated elevator cable 24. The lifting cable 24 is guided via a top sled 25 to a load coupling device 26 for coupling with a load (e.g., the top end of the cell pile 10) to enable the crane to lift the load using the lifting winch.

The crane 3 is provided with a pitch winch 21 and an associated pitch cable 22 for pivoting and supporting the boom 12 of the crane 3 in different positions. The pitch winch 21 is mounted on the crane housing 18. The pitch cable 22 extends between the pitch winch and the boom to enable the boom to pivot between a lowered position and a raised position.

The crane 3 comprises a trolley guide 15 in the form of a rail comprising one or more guide rails extending along the boom 12 in the longitudinal direction thereof. The crane 3 further comprises a trolley 16 coupled with the trolley guide 15 for movement along the boom 12 guided by the trolley guide 15. The cart 16 is provided with a wind turbine assembly engagement device configured to engage and pivotally support a wind turbine assembly at its top end. The lower portion of the wind turbine assembly engagement device is configured to engage and support a top end of the wind turbine assembly. For engaging the pile, the lower portion may be in the form of a pile tip clamp configured to engage and secure the tip of the cell pile by clamping a surface of the cell pile by means of an actuatable clamping element. Between the lower part and the connection to the trolley, the wind turbine assembly engagement device has a pivot with a horizontal pivot axis, which can be oriented perpendicular to the longitudinal axis of the wind turbine assembly, for erecting the wind turbine assembly by moving the top end of the wind turbine assembly upwards along the boom 12. Pivoting is necessary so that the angle between the longitudinal axis of the cell pile and the Z-axis relative to the pivot axis increases with the progress of erection-this can be verified by the evolution of figures 1 to 5.

In the illustrated case, the wind turbine component engagement device 80 is a pile engagement device 80, in particular a mono-pile top clamp. Wind turbine assembly engagement means for erection, such as a cell pile top clamp, are known in the art. The trolley guide 15 is mounted to the boom 12 of the crane 3 for guiding the trolley 16 along the boom 12 of the crane 3. Thus, as boom 12 is raised to its raised upright position, boom 3 may be used to guide the top end of cell post 10 during erection.

Each elevator 14 is shown connected to a pile engaging device 80 via a cart 16. Each elevator 14 is configured to support a pile engagement device 80 via the cart 16 by means of the load coupling device 26 of the elevator engaged with the cart 16. The cart 16 is configured to engage a load coupling device 26 supported by the elevator 14. Thus, in the engaged condition, the trolley 16 may be moved by operation of the elevator 14 for guiding the wind turbine assembly engaging means 80 and thus for guiding the top ends of the cell piles supported by the wind turbine engaging means 80 along the trolley guide while erecting the cell piles 10 using the elevator 14. In particular, via the load coupling device 26 and the trolley 16, the elevator 14 is configured to move the pile engaging device 80 in a direction along the upright superstructure 12 between a lower position of the pile engaging device 80, in which the pile engaging device 80 is in the Z-direction of the vessel at or near the base 11 of the crane 3, and an upper position, in which the pile engaging device 80 is remote from the base 11 in the Z-direction, wherein the pile 10 extends in an upright orientation along the boom 12 for inboard erection of the pile and outboard lowering of the pile. In fig. 1, the pile engaging device 80 is in the lower position shown at the beginning of erection. In fig. 5, the upper position is reached at the end of erection and is maintained during subsequent displacement of the pile 10 to the overboard mounting position (fig. 6-8). To subsequently lower the pile 10, the pile engaging means 80 is again moved downwards to a relatively low intermediate position between the lower and upper positions.

In the embodiment shown, the boom 12 is an a-frame and the cart guide 15 comprises rails provided on both legs of the a-frame. The trolley 16 is coupled with the two rails of the trolley guide and is therefore movably mounted to each leg of the a-frame to be guided along the boom 12.

By the described construction, the pile engaging means 80 is configured and arranged on the boom 12 via the trolley 16, so as to limit the movement of the engaged tip relative to the superstructure in an X-Y plane, which corresponds in the upright position of the pile to a plane perpendicular to the longitudinal axis of the engaged pile 10. Finally, the mounting of the trolley guide 15 to the boom 12, the coupling between the trolley guide 15 and the trolley 16, the connection between the trolley 16 and the post engagement device 80, and the engagement of the post by the post engagement device 80 connects the post to the boom 12. Via this connection, the movement of the tip relative to the boom 12 and thus relative to the superstructure is limited.

The crane 3 further comprises boom securing means-not shown in the figures. The boom securing means comprises a stop for restraining the boom 12 in its raised, upright position shown in the figures, and a boom lock for locking the boom 12 in the raised, upright position-thereby maintaining the upright orientation of the trolley guide 15 and thus the stake 10. Thus, the movement track of the trolley 16 and thus the pile engaging device 80 is maintained by the locking of the boom 12. In particular, the boom lock is adapted to maintain an upright orientation while the crane 3 supports the post 10-thus, the boom lock must be able to keep the boom locked, although the moment exerted on the boom 12 by the weight of the supported post 10 tends to move the boom to its lowered position. The crane 3 further comprises a boom mover for pivoting the boom 12 out of the raised upright position. Such a boom mover is not shown in the figures, but may be a hydraulic cylinder operable to push or pull boom 12, or a boom deployment winch with associated cables for pulling boom 12 for pivoting boom 12 away from a raised upright position.

The trolley guide 15 extends further along the foundation 11 of the crane 3 and thus below the horizontal boom pivot axis 20 at least when the boom 12 is in the raised upright position. This allows the lower portion of the stake engagement device to be located below the boom pivot axis so that the individual stake can be engaged at a smaller height above the deck. Since the heights of the individual piles are the same and thus the height range between the lower position and the upper position of the pile engaging device is the same, the height of the top end of the boom 12 may be limited with respect to embodiments in which the trolley guide 15 does not extend along the base (e.g., extends only along the superstructure).

According to the invention, the installation vessel 1 is configured to guide both the bottom end and the top end of the cell pile 10 during erection of the cell pile 10. The tip is guided along the superstructure, i.e. along the boom 12 of the superstructure. For guiding the bottom end, the vessel 1 is provided with a carrier rail 5 and a supporting carrier 6.

The truck rail 5 extends along the upright deck 4. The support trolley 6 is supported by the trolley track 5 so that the trolley 6 can move along the trolley track 5 for guiding the bottom ends of the cell piles 10 along the upright deck 4. The support carriage 6 is configured to support the bottom end of the cell pile and to allow the bottom end of the cell pile to pivot while the support carriage moves along the carriage track 5. For this purpose, the upper part of the support cart is configured for engaging the bottom end. A pivot (the horizontal pivot axis of which is perpendicular to the longitudinal axis of the post 10) is provided between the junction of the truck 6 and the rail 5 and the upper part supporting the truck 6.

After the erection phase, the next phase of installation is to displace the upstanding post 10 in the X-Y plane from the inboard support position to the outboard installation position so that it can be secured in the installation position in the subsequent phase. As is known in the art, this stabilization is achieved by lowering the piles to the sea floor through the overboard gripping means of the pile grippers, which are secured to the vessel at or near the hull edge of the vessel 1, and driving them into the sea floor. Wherein the clamping means holds the pile in its installed position and in its X-Y position. The pile holder comprises:

-a gripper base via which the pile grippers are supported by the hull, and

-a gripping device configured to engage the upright oriented pile at its lower end so as to limit the movement of the pile in the X-Y plane (i.e. perpendicular to the longitudinal axis of the pile) with respect to the gripper base, and to guide the vertical movement of the pile by means of said gripping device, i.e. in the direction of the longitudinal axis of the pile.

According to the present invention, the displacement of the pile to the outboard installation position is achieved by engaging the lower end of the pile 10 by means of the pile gripper 7, which is placed at a distance from the base 11 of the crane 2, and moving the engagement portion (gripping means) of the pile gripper 7 to the outboard installation position on the same trajectory as the pile engagement means of the crane, so that both ends of the pile 10 are simultaneously displaced to the outboard installation position. After the displacement phase, the pile gripper 7 is also used in a manner known in the art for a subsequent phase of fixing the pile in the installed position. Thus, according to the invention, the same pile gripper 7 is used for holding the pile 10 during the displacement phase, in addition to the stabilization phase. This advantageously avoids the use of a separate facility for holding the stake 10 during the displacement phase, and the gripping means transferred from this facility to the stake grippers 7.

In particular, the use of the pile holder 7 for two phases is enabled by two aspects of the pile holder 7, which relates to the second and third aspects of the invention.

According to a second aspect of the invention, the pile gripper 7 has a receiving mode in which the opening 75 of the gripper 7 is directed towards the standing deck 4, so that the pile can pass through said opening with its bottom end when standing in its in-ship supporting position to its standing orientation. This is particularly visible in fig. 4, 5, 16 and 21. When the gripping means 71 of the pile gripper 7 is in the inboard installation position of the pile 10, the pile extends upright within the gripping means 71 after erection is complete. Thus, passing the bottom end of the pile 10 through the opening of the gripping device 71 moves the pile 10 to a ship-supported position. The second aspect thus allows the pile 10 to be received into the clamping device 7 by erection. The opening 75 coincides with the movement locus of the bottom of the pile 10 in the X direction and has at least a width corresponding to the pile diameter.

In the illustrated embodiment, the clamping device 71 comprises a ring 74 comprising a plurality of pile engaging tools 76 distributed around the circumference of the ring 74, each pile engaging tool 76 being adapted to engage an exterior of the pile 10 extending through the ring 74 in its upright orientation, e.g. each pile engaging tool 76 comprising one or more pile guide rollers. The ring 74 of the clamping device 71 comprises a ring base and one or more movable jaws 77, for example two jaws, which form respective sections of the ring and pivot relative to the base between a closed position in which the ring 74 forms a closed loop and an open position in which an opening 75 is present. This open position allows the post 10 to pass laterally into and out of the ring portion 74 through the opening 75 in the ring between the jaws 77.

However, other variations are possible, such as jaws that do not pivot but slide along the ring to move to an open position.

In the embodiment shown, the receiving position is achieved by moving the ring 74 to the on-board support position of the pile, that is, such that the ring 74 is able to surround and engage the exterior of the pile 10 when the pile 10 is in the on-board support position. In fig. 5, 18 and 21, at the end of the erection stage, the outer part of the bottom end of the cell pile 10 rests against the base of the ring 74. The movement of the ring to the support position is here achieved by moving the clamping device 71 in a clockwise direction on a curved track 73 of the clamp base 72, thereby moving the shoes of the clamping device 71 towards the stern and moving the ring 74 in a direction towards the standing deck 4. To save time, the clamping device 71 is initially in an overboard mounting position so that the ring 74 does not interfere with the top end while the cell pile 10 is still stored horizontally, see fig. 1, and during erection of the pile the clamping device 71 is moved from this initial position to a supporting position, see evolution from fig. 1 to 3, by operating the winch 23 of the lifting device 23. Once the upper end is lifted above the level of the gripping device, the deck space at the upper end of the storage pile is emptied for the gripping device, thereby enabling the gripping device to be moved to a supporting position.

As shown in fig. 4, the clamping means 71 is opened to form an opening before the bottom end reaches the vicinity of the opening, so that the clamping jaws have room to pivot outwards without interfering with the erection, in particular with the bottom end of the catwalk. In the illustrated installation method, the opening is accomplished by operating the winch 23 of the lifting device 3 during erection of the pile, see fig. 2 and 3.

After erection, the jaws of ring 74 move to close ring 74 so that stake engaging tool 76 on jaws 77 now also engages the exterior of ring 74. The cell piles are engaged and supported from above via pile engaging means 80. By operating the elevator 14, the crane 3 is able to lift the pile 10 from the truck 6 by further reeling in the hoisting cable 24 on the winch 23 in order to release the pile 10 from the truck 6. The truck 6 is then moved forward along the track 5 to a rest position at the front end of the track 5.

According to the third aspect of the present invention, the pile engaging means 80 and the clamping means 71 can be moved from the inboard support position, in which the pile engaging means 80 is in the upper position and the pile 10 is above the hull 2, to the outboard installation position, in which the pile is located outside the contour of the vessel, by being each movable in the X-Y plane relative to the vessel 1, while being moved relative to the hull 2, to the outboard installation position of the pile 10, when both engage the pile 10 while supporting the pile 10. The outboard installation position is shown in fig. 8-13, 18 and 23.

In the embodiment shown, the vessel 1 comprises a recess 43 in the longitudinal direction X of the vessel 1 at the stern of the vessel 1. The recess 43 is laterally flanked by two deck portions 44. The path of movement from the inboard support position to the outboard installation position extends laterally between the two deck portions and the outboard installation position is considered to be within the recess 43 in the X-Y plane of the vessel 1. This advantageously achieves a short movement path from the support position to the installation position. The recess 43 is in line with the erection deck 4 and thus with the path of movement of the bottom end of the pile 10 during erection.

As can be seen from the evolution of fig. 6 to 8, the movement of the pile from the inboard support position to the outboard installation position involves rotation of both the pile engaging means and the gripping means, and therefore, when engaging the pile, the pile rotates about the swivel axis of the lifting means.

The movability is provided in the lifting device 3 by a swivel bearing 17. The lifting device 3 further comprises one or more displacement actuator assemblies (in particular, swivel actuators) between the base 11 and the superstructure 12, 18 for actuating the movement of the pile engaging device 80 from the inboard support position to the outboard installation position. In the depicted embodiment, the movability is achieved by the base 72 of the pile holder comprising a curved track 73. The base 72 of the pile clamp 7 further comprises one or more displacement actuator assemblies operating between the clamp base 72 and the clamping device 71 for actuating the movement of the clamping device 72 from the inboard support position to the outboard installation position. This swiveling of the crane 3 provides the advantage that the swivel bearing is a common component of the crane 3 and that the translation of the superstructure along the X-Y plane is omitted. This translation, which generally involves more friction, will place higher demands on the track and the skid shoe and may have a negative impact on the stability of the crane 3. In this embodiment, the base 11 may advantageously remain stationary relative to the hull 2.

The mobility of the gripping means is provided by a gripper base comprising one or more gripper guides, here a curved gripper track 73 forming an arc. The gripper rail 73 is mounted to the deck of the hull 2 and defines a curved rail for the gripping means 71. The clamping device comprises a plurality of shoes for engaging the rail, see for example a side view. Movement of the clamping device 71 from the inboard support position to the outboard installation position of the pile 10 includes moving the clamping device 71 along the track 73.

Considering in the X-Y plane of the vessel 1, the base 11 of the lifting device and the gripper base 72 are spaced apart from each other, and the movement of the pile 10 from the inboard support position to the outboard installation position has a movement track passing between the base 11 of the lifting device 3 and the gripper base 72. This allows the crane 3 to effect movement of the pile 10 on one side and gripper on the other side.

The movement of the pile 10 from the inboard support position to the outboard installation position involves relative movement of the pile engaging means 80 relative to the base 11 of the lifting means 3, as opposed to relative movement of the gripping means 71 relative to the gripper base 72, i.e. clockwise and anticlockwise respectively.

During rotation of the pile engaging means 80 and the gripping means 71 about the swivel axis 19 of the crane 3, the pile engaging means 80 and the gripping means 71 perform opposite angular swivel movements relative to each other about the longitudinal pile axis of the pile 10. In order to allow both the pile engaging means 80 and the gripping means 71 to swivel relatively in these opposite angular directions while both remain engaged with the pile 10 during displacement of the pile 10, the engagement portion of the engaging and gripping means 71 may be arranged rotatable relative to its central swivel axis, which corresponds to the longitudinal pile axis at the time of engagement. This may be provided, for example, by one or more of the following:

the rotatability of the lower part (pile engaging part) of the pile engaging means 80, to which the clamping means for engaging the pile surface is arranged with respect to the upper part attached to the trolley 16, e.g. circumferentially spaced apart, e.g. a pivot with its centre axis of rotation arranged directly above, directly below or integrally with (e.g. in the form of a ball or a universal joint) the pivot with its horizontal axis of erection,

The rotatability of the single clamping device relative to the remainder of the pile engaging device 80, a circular circumferential track being provided between the remainder and the single clamping device, the single clamping device having a shoe for coupling with and moving along the track,

the rotatability or slidability of the engagement surface of each gripping means relative to the engaged pile surface, for example, these surfaces being made of a low friction material, or for example, the engagement surfaces being the outer surfaces of rollers, the respective axes of which are parallel to the engagement surfaces of the piles,

the rotatability of a single pile engaging tool 76 relative to the ring 74, a circular circumferential track being provided between the ring 74 and the single engaging tool 76, the single engaging tool having a shoe for coupling with and moving along the track,

the rotatability or slidability of the engagement surface of each pile engagement tool 76 relative to the outer surface of the engaged pile, for example, these surfaces being made of a low friction material,

the rotatability of the ring 74 about its central axis, for example, the ring 74 includes an outer circumferential track and a support frame 78 that supports the ring 74 on the holder base 72, which includes a skid shoe that engages the track.

Other similar solutions within the scope of the invention will be available to the person skilled in the art.

The fact that the superstructure only performs a swiveling movement and the gripping means 71 moves along the track, which involves a greater distance of movement, is advantageous because the superstructure generally bears a substantial part of the weight of the upstanding pile 10, for example substantially the entire weight. Thus, the gripping device 71 has more guiding function and the gripping device 71 will require much less translational movement on the track to move to an outboard position of the pile 10 than the crane component.

The foundation 11 of the lifting device is located on the port side of the recess 43 and partly on the port side deck section 44. The clamp mount 72 is located on the starboard side of the recess 43 and partially on the starboard deck portion 44. When the displacement has proceeded halfway, see fig. 7, the stub is located above the Y-direction foremost edge of the vessel 1 in the recess 43, and the boom 12, the stub engagement means 80, the stub 10 and the clamping means 71 are substantially on one Y-direction line. This relative positioning of the crane 3 and the clamp 7, the recess 43 and the deck portion is such that the angular range between the inboard position and the intermediate position and between the intermediate position and the outboard position with respect to the swivel axis 19 is as small as possible. This results in that, in the case of a purely rotational movement, the displacement path of the pile during displacement involves only a small lateral displacement component and thus corresponds as far as possible to a linear displacement path during erection.

Both the pile engaging means 80 and the clamping means may be moved in the X-Y plane by translation in addition to being rotationally movable about the axis of revolution.

In the crane 3, this embodiment has a translatability of the pile engaging device 80 in the X-Y plane relative to the trolley guide 15, which is arranged in the trolley 16 between the connection with the pile engaging device 80 and the connection with the trolley guide 16. In this embodiment, the stake engagement device 80 is movable in two perpendicular directions in the X-Y plane. One direction is tangential with respect to the axis of revolution 19 and one direction is radial with respect to said axis of revolution. In other embodiments, translatability in only one direction in the X-Y plane may be provided, for example radial with respect to the axis of rotation 19.

In the drawings, it is shown that the trolley 16 is provided with a frame protruding from the trolley guide 17 in the X-Y plane, and that the stake engagement device 80 is attached on the bottom side of the frame. The frame comprises guides extending in both directions with respect to the swivel axis 19, in particular one guide in the tangential direction and two guides in the radial direction. The tangential direction guide engages and is movable along the radial direction guide to move in the radial direction. The pile engaging means 80 engages and is movable along the tangential guide, thereby moving in the tangential direction. Thus, by combining the movement of the tangential guide on the radial guide with the movement of the pile engaging device 80 on the tangential guide, the pile engaging device 80 may be moved in any direction. The vertical arrangement of the guides may be advantageous in terms of easy coordination of movement control and simplicity and stability of construction. Other non-parallel arrangements of the guides are also possible, so as to be able to move in the intermediate direction by combining.

The trolley is provided with actuators between the tangential guide and the radial guide and between the connection with the pile engaging device 80 and the tangential guide for actuating the movement of the pile engaging device 80 in the X-Y plane.

In the pile gripper, this embodiment has the translatability of the gripping device 71 in the X-Y plane relative to the gripper base 72, which is provided in a support frame 78 via which the ring 74 is supported on the base 72. The upper part of the support frame can be moved relative to the lower part in the X-Y plane by two sets of perpendicular rails. The upper part of the support frame is arranged on a set of second rails in the form of guides and the set of second rails is arranged on a set of first rails in the form of guides, the first and second rail sets extending perpendicular to each other in the X-Y plane of the vessel. The ring 74 may be moved in any direction by combining the movement of the second set of guides over the first set of guides with the movement of the upper portion of the support frame 78 over the second set of guides. Other non-parallel arrangements of the track sets are also possible.

In an embodiment, the support frame 78 includes rails that are located between the upper and lower portions of the support frame 78 in only one direction (preferably, in a direction perpendicular to the curved rails 73). In this case, by combining the movement of the pile holder 71 along the curved track 73 and along the track in the support frame, it is possible to move in more directions.

The additional movability may assist in the displacement phase, for example to account for minor differences between the positions of the ring 74 and the pile engaging means or to correct excessive tilting of the pile 10, for example due to the effects of wind and sea conditions on vessel movements. Alternatively, the excessive shift of the position with respect to the ship (for example, with respect to the edge of the recess 43) is corrected.

In fig. 9-13, 18 and 23, the stabilization phase is shown. Wherein fig. 9-13 show lowering of the pile towards the sea floor and subsequent piling until it is fixed in the sea floor, fig. 18 and 23 only show the result of the lowering. Lowering is achieved by operating winches 23 so that they unwind the hoisting cable 24. The pile engaging tool 76 of the gripping device 71 is configured to effect and guide such vertical movement of the pile 10 through the ring, e.g. comprising a roller having an axis tangential to the circumference of the pile. This is known in the art.

This embodiment is capable of providing X-Y motion compensation to the pile during the settling phase-although it may alternatively be provided during other phases. The X-Y motion compensation enables the piles to remain upright in the installed position during lowering, irrespective of the sea-state induced X-Y motion of the vessel relative to the sea floor, for example due to waves and currents. An active X-Y motion compensation system is provided for both the crane 3 and the pile gripper 7, which exploits the additional movability of the pile engaging means 80 and the ring 74 in question with respect to the vessel.

In particular, the support frame 78 comprises an active motion compensated actuation system for moving the clamping device in the X-Y plane of the vessel 1 relative to the vessel 1. The actuation system comprises an active wave induced motion compensation mode in which the actuation system is operated to compensate for the ring 74 and thus the bottom end of the pile 10 to compensate for sea state induced motion of the vessel in the X-Y plane. This includes keeping the overboard installation position unaffected by sea-state induced vessel movements-so that the piles can remain in place during lowering.

In this embodiment, preferably, the active motion compensated actuation system of the pile holder comprises the first and second tracks discussed previously. The actuation system further comprises one or more first compensation actuators operating between the first rail and the second rail for moving the second rail on the first rail and one or more second compensation actuators operating between the second rail and the clamping device for moving the clamping device on the second rail. In a preferred embodiment, these actuators are the same as those previously discussed.

The active motion compensated actuation system of the crane 3 comprises tangential and radial directional tracks in the trolley 16. The active motion compensation actuation system is thus configured for moving the pile engaging means in the X-Y plane of the vessel relative to the trolley guide and comprises an active sea-state induced motion compensation mode, wherein the actuation system is operated to compensate the pile engaging means 80 and thus the top end of the pile 10 to compensate for wave induced motion of the vessel in the X-Y plane. This includes keeping the outboard installation position unaffected by sea state induced vessel motion.

The actuation system further comprises one or more first compensating actuator assemblies operating between the tangential guide and the radial guide for moving the tangential guide on the radial guide, and one or more second compensating actuator assemblies operating between the radial guide and the connection to the pile engaging device for moving the pile engaging device on the radial guide. In a preferred embodiment, these actuators are the same as those previously discussed.

In an embodiment, linear circulating roller bearings may be provided in the skid engaging the guides, for example in the skid of the truck 6, the X-Y frame of the trolley 16, the support frame 78 of the gripper 7 and the gripping device 71 for engaging the curved track 73. The linear circulating roller bearing assembly described in the non-prepublished application NL2028920 is particularly suitable in view of the high load of the skid shoe.

According to a fourth aspect of the invention, the ring 74 of the clamping device is pivotable relative to the clamp base about a central Z-axis of rotation of the ring 74 in its closed position by means of one or more ring-turning actuators, such that the opening 75 between the jaws 77 in the open position of the ring 74 is movable from an angular position of the opening 75 relative to the central axis of rotation facing the standing deck 4 of the hull 2 of the vessel 1 in the inboard support position of the pile 10 and an angular position of the opening 75 relative to the central axis of rotation facing the water surface, including in the outboard installation position of the pile 10.

This enables the stake to swivel about its horizontal axis when activated by the stake engagement device 80. It also allows the gripping device to have both a receiving mode as shown in fig. 4, 5, 16 and 21 and a release mode as shown in fig. 13. This release pattern is provided to facilitate the final stage of the installation method, i.e. the release of the pile 10 from the vessel 1 after it has been fixed in the installation position. With respect to the receiving mode, fig. 4 and 5 are compared with fig. 13, and the opening is rotated about the central axis of the ring 74 in the releasing mode so as to face the water surface. Immediately after the displacement of the pile from the inboard to the outboard installation position, the jaws 77 of the ring 74 rotate about the central axis. In fig. 8 the jaws have been rotated before lowering, so that when opened the opening faces the water surface, in particular in the X-direction.

In the embodiment shown, the openings 75 are preferably arranged such that the piles can pass through the openings by moving the vessel 1 forward in the X-direction-this can be envisaged from fig. 13. This helps to release the pile after it is secured, however, this also makes it possible to open the jaws to form an opening and to eject the pile 10 back out of the vessel in the X direction, e.g. by a dedicated ejection system, in case of anomalies (e.g. sudden instability and/or tilting of the pile before or during lowering or piling, which cannot be corrected e.g. by using the DP system of the vessel 1 or the X-Y movement system of the pile holder 7 and the trolley 16). Additionally or alternatively, the vessel 1 may be moved rapidly forward after the jaws 77 are opened, for example in case the pile is tilted back away from the vessel, or if no ejection system is present.

Fig. 24 shows an alternative embodiment of a lifting device 1003 according to the invention, which is mounted on a mounting vessel 1001. The installation vessel 1001 includes a hull 1002, a crane 1003, an erection deck 1004 with truck rails 1005 and supporting trucks 1006, a mono pile gripper 1007, and a storage deck 1008. In the embodiment shown, vessel 1001 is further provided with storage crane 1009.

In the illustrated embodiment, the vessel 1001 has a non-jack-up floating hull 1002 and is configured to maintain position and orientation relative to the installation site. Thus, the vessel can be positioned near the cell pile installation site and the cell pile installed using cell pile clamps 1007 without having to anchor the vessel with jack-up legs that must be deployed.

In the illustrated embodiment, the hull of the vessel forms an upright deck 1004 and a storage deck 1008. Both the erection deck and the storage deck are part of a single vessel deck. Three individual piles are stored on the storage deck 8, one next to the other. In another embodiment according to the invention the storage deck is provided with storage racks allowing storage of rows of individual piles, one row stacked on top of the other.

Further, a mono-pile 1010 is depicted on the upright deck 1004. Crane 1001 and storage crane 1009 are configured to engage and terminate the cell piles, respectively, thus lifting the cell piles from storage deck 1008 onto upright deck 1004, or vice versa. In fig. 24, crane 1003 and storage crane 1008 are depicted lifting a cell pile from a location adjacent to a vessel (e.g., from a supply vessel such as a barge or from a dock) prior to moving the cell pile to a storage location on storage deck 1008.

Fig. 24 and 25 show schematic side views of the crane 1003 of the vessel depicted in fig. 23.

The crane 1003 is supported by the hull 1002 of the vessel 1001 adjacent to the upright deck 1004. The crane 1003 includes a crane base 1011, a boom 1012, a pitch winch 1013, and a hoist. The crane 1003 is further provided with a trolley guide 1015 and a trolley 1016.

The crane base 1011 supports a slewing bearing 1017 and a crane housing 1018, which in turn supports a boom 1012. A swivel bearing 1017 is disposed between the crane housing 1018 and the crane base 1011. The swivel bearing enables the crane housing 1018 and thereby the boom supported by the crane housing to swivel about the vertical swivel axis 1019.

The elevator 1014 includes an elevator winch 1023 and an associated elevator cable 1024. The lifting cable 1024 is guided via a top block 1025 to a load coupling device 1026 for coupling with a load (e.g., the top end of a cell pile) to enable the crane to lift the load using the lifting winch.

The boom 1012 extends between a base end 1012a and a top end 1012 b. The boom 1012 is pivotally supported at a base end 1012a by a crane housing 1018 for pivoting about a horizontal boom pivot axis 1020. Thus, the boom 1012 may pivot between a lowered position and a raised position. In fig. 3, the boom is depicted in a lowered position and a raised position.

The crane 1003 is provided with a pitch winch 1021 and an associated pitch cable 1022 for pivoting and supporting the boom 1012 of the crane 1003 in different positions. The pitch winch 1021 is mounted on the crane housing 1018. A pitch cable 1022 extends between the pitch winch and the boom to enable the boom to pivot between a lowered position and a raised position.

The lowered position in fig. 26 is the storage position. This position is used during the travel of the ship between the different positions. By lowering the boom when not in use, the overall center of gravity of the vessel is lowered, which improves the dynamic performance of the vessel.

The raised position depicted in fig. 26 is an upright position. With the boom in this upright position, the crane can be used to erect a single pile, as will be explained in more detail below.

According to the proposal, the boom can be pivoted and supported in a number of intermediate positions (positions raised relative to the storage position and lowered relative to the upright position) for lifting the load at a position remote from the crane base. Furthermore, by pivoting the boom while lifting a load, the load can be moved towards or away from the crane base.

In fig. 24, the ranges of the crane 1003 and the storage crane 1009 are depicted. According to the proposal, in the embodiment shown, the crane 1003 has to lower the boom to reach the storage location distal to the storage deck. Furthermore, in order to move the mono-pile from the erect deck to the storage deck, one or both of the crane and the storage crane must raise its boom compared to the boom position required to lift the mono-pile adjacent the vessel.

In fig. 24, the lifting device 1003 is combined with a single pile holder as known in the prior art. The cell pile clamp is depicted in fig. 24 in an open position and a closed position. Single pile grippers are generally known in the art according to recommendations. The cell pile gripper is configured to engage the pile and thereby position the pile and hold the pile in position as the pile is lowered towards the seabed. Typically, the cell pile holders are provided with holders or gripping means, for example a circular body provided with cell pile guides in the form of rollers, which can be opened to allow movement of the cell pile into the cell pile holders and which can then be closed to position the cell pile. In addition, the cell pile can be lowered into the closed cell pile holder. After driving the cell pile into the seabed, the cell pile gripper must be opened to release the cell pile.

The installation vessel 1001 is configured to guide both the bottom and top ends of the cell pile during erection of the cell pile. Thus, the vessel is provided with a carrier rail 1005 and a support carrier 1006 for guiding the bottom end of the cell pile during the erection process, and with a trolley guide 1015 and a trolley 1016 for guiding the top end of the cell pile.

A truck track 1005 extends along the upright deck 1004. The support cart 1006 is supported by a cart rail 1005 to enable movement of the cart along the cart rail for guiding the bottom ends of the cell piles along the upright deck from a position remote from the crane to a position adjacent the crane. The support cart 1006 is configured to support a bottom end of a cell pile and to allow the bottom end of the cell pile to pivot while the support cart moves along the cart track 1005.

The trolley guide 1015 is mounted to the boom 1012 of the crane 1003 for guiding the trolley 1016 along the boom 1012 of the crane. Thus, when boom 1012 is raised to an upright position, the boom may be used to guide the top end of the cell post during erection.

In the illustrated embodiment, the boom 1012 is an a-frame and the cart guide includes rails disposed on two legs of the a-frame. The trolley 1016 is movably mounted to each leg of the a-frame and is thus coupled with a trolley guide to be guided along the boom of the crane.

The cart 1016 is configured to engage a load coupling 1026 supported by the elevator 1014 for guiding the load coupling and thus for guiding the top end of the cell pile supported by the load coupling along the cart guide while the cell pile is erected using the elevator.

Fig. 27 shows a schematic top view of another exemplary embodiment of a mounting vessel 201 according to the present invention, wherein the vessel is provided with an erection crane 203 and an erection deck 204 aligned with a central axis 235 of the vessel.

Fig. 28 shows the vessel 201 of fig. 27, wherein the boom 212 of the upright crane 203 is depicted in both a raised upright position and a lowered position.

Fig. 29 shows a side view of the vessel 201 of fig. 27, wherein the erector crane 203 and the storage crane 209 support the wind turbine assembly 236.

Fig. 30 shows a side view of the vessel of fig. 27 (with boom 212 of erection crane 203 in the erect position) and shows monohull piles 236 depicted in a plurality of intermediate positions of the erection process.

Fig. 31-33 illustrate the process after how the cell pile 236 is erected. Once the cell pile 236 is erected, the crane 203 further lifts the cell pile in a vertical direction from the support truck 206 and swings around the vertical swing axis 219 to position the cell pile above the cell pile gripper 207, see fig. 11. Subsequently, the crane 203 is used to lower the cell pile 236 towards the seabed while the cell pile is guided by the pile gripper 207, see fig. 32. Once the cell pile 236 is lowered onto the seabed, the crane 203 is used to install a hammer (hammer) 237 on top of the cell pile 236 and drive the cell pile into the seabed, see fig. 33.

FIG. 34 shows a side view of vessel 301 and shows tower 338 depicted in a plurality of intermediate positions during erection.

Fig. 35 shows a side view of vessel 301 and shows an upright crane 303 mounting nacelle 339 on tower 338, the tower being supported in an upright position.

Fig. 36 shows a side view of the vessel 301 and shows the erection crane 303 supporting the assembled wind turbine 341 in an off-board position (i.e. outside the contour of the vessel 301) in an installed position.

Fig. 37 shows a top view of another exemplary embodiment of a vessel 401 according to the present invention, wherein the vessel 401 is configured for transporting wind turbine components, assembling a wind turbine and mounting the assembled wind turbine on a foundation. The vessel 401 is provided with an upright crane 403 and an upright deck 404 aligned with a central axis 435 of the vessel 401.

Fig. 38 shows a schematic side view of the crane 403, wherein the boom 412 of the crane is in an upright position and the trolley 416 supports a blade mounting device 442 supporting a blade 440 adjacent to the nacelle 439 of the wind turbine being assembled.

Fig. 39 shows a close-up of the blade mounting arrangement 442.

Fig. 40 shows a top view of another exemplary embodiment of a vessel 501 according to the present invention. The vessel 501 is provided with an upright crane 503, an upright deck 504 aligned with a central axis 535 of the vessel, and a gripper 507 for guiding mono-piles 536, of which only the crane foundation 511 of the upright crane is depicted.

In the embodiment shown, the vessel 501 comprises a recess 543 at the tail of the vessel, i.e. a setback along the profile of the vessel. The recess 543 is flanked by two deck portions 544. The grippers are mono-pile grippers 507 configured to guide a mono-pile 535, which mono-pile grippers 507 are supported in recesses 543 by the erection crane 503.

In the particular embodiment shown, the cell pile gripper comprises gripping means or gripper ring 545 for guiding the cell pile, and a frame 546 for supporting the gripper ring outside the contour of the vessel and for moving the gripper ring in a horizontal plane to compensate for the movement of the vessel with respect to the installation site and thus with respect to the pile supported at the installation site.

The clamp ring 545 is provided with two door portions 547 which in the closed position form part of the clamp ring and which can be opened to provide an access opening allowing a cell pile to move in a lateral direction in or out of the clamp ring relative to the clamp ring. Fig. 40 depicts the loop with the door portion closed, and fig. 40 and 42 illustrate the loop with the door portion open.

In the particular embodiment shown, the gripper ring 545 is movably supported by a support frame 546 such that the gripper ring can rotate about a vertical axis and, thus, the entrance opening 548 of the gripper ring can move. Thus, the gripper ring 456 may be positioned with the access opening 548 facing the bow to receive a cell pile supported by the upright crane 503 in the upright position, as shown in fig. 40, and with the access opening facing the tail of the vessel to allow a cell pile driven into the seabed to be moved out of the gripper ring by the vessel moving out of the installed position. The latter position of the gripper ring is shown in fig. 42.

Further, in the exemplary embodiment shown, support frame 546 is pivotally supported at one end mounted on semi-circular support rail 549 such that the frame may pivot about a vertical pivot axis, see fig. 40-42. The frame is configured to telescopically support the gripper ring portion so that it can move the gripper ring portion toward and away from the semicircular track. Thus, the gripper ring may move in a horizontal plane relative to the vessel, and the gripper ring may move as the lower ends of the cell piles move along the central axis of the vessel from a shipboard position to an overboard position. Thus, when the cell pile is moved, the cell pile is fully supported at its top end by the cart and at its lower end by the gripper ring.

The holder 507 is supported on the deck of the vessel 501. The grippers 507 are positioned to receive the lower ends of the individual piles 535 supported by the upright crane 503.

Fig. 41 shows a top view of the vessel 501. Grippers 507 move with the crane to transfer cell pile 535 from the on-board position depicted in fig. 40 to the off-board position depicted in fig. 42.

Fig. 42 shows a top view of vessel 501 with grippers 507 positioned to guide cell piles 535 in the installed position.

The invention may be summarized in terms of one or more of the following:

31. a lifting device for erecting an elongated wind turbine assembly, such as a foundation pile for supporting a wind turbine or a tower for supporting a wind turbine nacelle, on a vessel, the lifting device comprising:

an elongated upright superstructure is provided,

32. The lifting device of clause 31, wherein the lifting assembly is a lifting assembly comprising a lifting winch and an associated lifting cable, such that when connected, the cart and the wind turbine engagement device therewith and/or the coupling thereof can be moved along the guide by operating the lifting winch.

33. The lifting device of clause 32, wherein the lifting assembly comprises an upper sheave assembly at the upright superstructure, and the lifting assembly is connected or connectable to a wind turbine assembly engagement device and/or a coupler thereof via a load coupling device comprising a lower sheave assembly, e.g. by means of its connection to the trolley, the lifting cable being arranged as a multiple rumble rope passing through the upper sheave assembly and the lower sheave assembly to enable a crane to lift a load using the lifting winch.

34. The lifting device of clause 32 or 33, wherein the lifting device is a crane, the base of the lifting device is a crane base, the upright superstructure is an upright crane superstructure, and wherein the crane superstructure comprises:

-a crane housing; and

the arm of the boom is provided with a first arm,

wherein the boom extends between a boom base end and a boom tip, wherein the boom is pivotally supported at the boom base end by a crane housing about a horizontal boom pivot axis, the boom has a lowered position for lifting a load at a horizontal distance from the crane base and a raised upright position for forming the upright superstructure for erecting a pile along the crane base, and wherein preferably at least a part of the trolley guide is mounted to the boom, and

wherein, the hoist further includes:

35. The lifting device of any one or more of clauses 31-34, wherein the lifting device, such as a crane, further comprises a swivel bearing disposed between a base and an upper structure, such as a crane base and a crane housing, wherein the swivel bearing enables the upper structure to swivel about a vertical swivel axis relative to the base.

36. The lifting device of at least clause 34, wherein the crane further comprises a boom stabilizer comprising a stop for restraining the boom in its raised upright position, and a locking device for locking the boom in the raised upright position.

37. The lifting device of at least clause 34, wherein the crane further comprises a boom mover for pivoting the boom away from the raised upright position, such as a hydraulic cylinder operable for pushing or pulling the boom, or a boom deployment winch having an associated cable for pulling the boom for pivoting the boom away from the raised upright position.

38. The lifting device according to any one or more of clauses 31-37, wherein the trolley guide further extends along the base of the crane and in the lifting device according to clause 34 extends below the horizontal boom pivot axis at least when the boom is in the upright position.

39. The lifting device of clause 38, wherein the trolley guide comprises a boom portion mounted to the boom of the crane and a base portion mounted to the base of the crane, wherein the trolley is movable from the boom portion onto the base portion, e.g. for coupling the top end of the wind turbine component to the wind turbine component engagement device.

40. The lifting device of any one or more of clauses 31-39, wherein the wind turbine assembly engagement device and/or its coupling (if present) is arranged on an active X-Y motion device configured to move the wind turbine assembly engagement device relative to the cart guide in the X-Y plane of the vessel, e.g. via its coupling (if present), when the lifting device is secured to the hull.

41. The lifting device of clause 40, wherein the active X-Y motion device comprises an X-Y motion compensation actuation control system, wherein the active motion compensation actuation system has an active sea state induced motion compensation mode in which the actuation system is operated to compensate for sea state induced motion of the vessel in the X-Y plane.

42. The lifting device of clause 40 or 41, wherein the active X-Y motion device (e.g., comprising an active motion compensated actuation control system) comprises one or more first rails (e.g., rails) and one or more second rails (e.g., rails) extending non-parallel to each other in the X-Y plane of the vessel when the lifting device is secured to the hull, the second rails being movable on the first rails, the actuation system further comprising one or more first X-Y motion actuator assemblies operating between the first rails and the second rails, and one or more second X-Y motion actuator assemblies operating between the second rails and the wind turbine assembly engagement devices and/or couplings thereof, the first X-Y motion actuator assemblies being for moving the second rails on the first rails, the second X-Y motion actuator assemblies being for moving the wind turbine assembly engagement devices and/or couplings on the second rails.

43. The lifting device of clause 42, wherein the first and second X-Y motion actuator assemblies of the active X-Y motion device are motor-driven displacement actuator assemblies, such as hydraulic power assemblies each comprising a pump and one or more hydraulic cylinders, or winch assemblies.

44. The lifting device of at least clause 35, wherein the crane further comprises a crane tower for supporting a wind turbine assembly, wherein the boom is disposed on one side of the crane relative to a swivel axis of the crane, and the crane tower is disposed on the other side of the crane relative to the swivel axis, wherein the crane tower extends between a base end and a top end thereof and is mounted in a fixed and upright orientation on a crane housing for swivel with the boom of the crane about the swivel axis,

wherein, the crane tower is provided with:

a tower trolley guide, for example a track comprising one or more guide rails, which extend along the tower in the longitudinal direction of the tower;

-a tower trolley coupled with the tower trolley guide to be movable along the tower, the tower trolley being guided by the tower trolley guide, for example wherein the tower trolley is provided with wind turbine component engagement means configured to be coupled to and support a wind turbine component at its top end, or for example wherein the trolley is configured to receive such wind turbine component engagement means and/or couplings for supporting a wind turbine component engagement means; and

45. The lifting device according to at least clause 35, wherein the lifting device is provided with a wind turbine component securing arm or retractor for engaging a lower part of the wind turbine component supported by the lifting device in its upright orientation, in particular for preventing the wind turbine component from swinging during crane slewing, while supporting the wind turbine component in the upright orientation.

46. The lifting device of at least clause 33, wherein one or more lifting cables pass between the upper and lower pulley assemblies, and wherein the lifting winch has sufficient power to support and lift a wind turbine assembly, e.g., to lift an assembled wind turbine or pile.

47. The lifting device of at least clauses 33 and 34, wherein the boom comprises a cantilever arm, and wherein the upper pulley assembly is disposed in the cantilever arm such that the lifting cable extends horizontally spaced apart from the boom at least when connected to the wind turbine assembly engagement device, e.g., via a coupling and/or a cart, and preferably substantially in line with a central axis of a wind turbine assembly supported by the wind turbine assembly engagement device in its upright orientation.

48. The lifting device of at least clauses 53 and 47, wherein a portion of the lifting cable extending between the cart and the upper sheave assembly extends parallel to the cart guide.

49. The lifting device of at least clause 34, wherein the crane boom comprises a boom at its base end and a boom at its top end, and one or more boom cables extending between the boom and the boom are provided, and wherein a pitch cable extends between the pitch winches and the boom of the boom.

50. The lifting device of at least clause 32, wherein the boom forms an a-frame comprising two legs, and wherein the cart guide is disposed on both legs of the a-frame, such as one or more tracks, such as rails, on each leg.

51. The lifting device of at least clause 33, wherein the cart is provided with a wind turbine assembly engagement device configured to pivotally support a wind turbine assembly at a top end thereof, and wherein the cart is configured to couple with a load coupling device of a lift.

52. The lifting device of at least clause 33, wherein the cart is configured to receive a wind turbine assembly engagement device supported by a load coupling device of an elevator.

53. The lifting device of at least clause 33, wherein the cart is configured to receive a load coupling of a lift, the load coupling supporting a wind turbine assembly engagement device configured to pivotally support a wind turbine assembly at a top end thereof.

54. The lifting device of at least clause 32, wherein the crane further comprises a trolley elevator comprising a trolley lifting winch with an associated trolley lifting cable, and wherein the trolley lifting cable is guided to the trolley via a crown block for moving the trolley along the trolley guide.

55. The lifting device of at least clause 32, wherein the crane further comprises a secondary lift comprising a secondary lift winch with an associated secondary lift cable, the secondary lift cable supporting a secondary load coupling device configured to be connected to a load, and wherein the lift cable is directed to the load coupling device via a crown block for lifting a load horizontally spaced apart from the crane base using the secondary lift winch.

56. A mounting vessel for mounting and preferably transporting a wind turbine component, such as a pile, e.g. a mono-block pile or a tower, the mounting vessel comprising:

a hull forming an upright deck,

the lifting device of one or more of clauses 31-55, wherein the lifting device is supported by the hull of the vessel adjacent the upright deck,

-a truck track extending along the upright deck;

57. The vessel according to one or more of the preceding clauses, wherein the vessel further comprises a storage deck supported by the hull of the vessel, wherein the storage deck is provided with a storage rack for supporting a plurality of wind turbine components in a horizontal position, wherein the storage deck and the storage rack are configured to support a plurality of wind turbine components parallel to each other and preferably parallel to the longitudinal axis of the vessel.

58. The vessel of clause 56 or 57, wherein the lifting device comprises a cantilever at the top end of the upstanding superstructure for spacing the lifting cable a distance from the upstanding superstructure, and a swivel bearing for swiveling the upstanding superstructure about a vertical swivel axis relative to the base.

59. The vessel of clause 58, wherein the lifting device is located at one end of the storage deck, and wherein the vessel is provided with a storage crane at the other end of the storage deck, and wherein the lifting device and the storage crane are configured to together lift the wind turbine assembly from the storage deck to an upright deck, the lifting device and the storage crane each lifting an end of the wind turbine assembly.

60. The vessel of clause 58 or clause 59, wherein the upright deck and the lifting device are configured such that the wind turbine assembly is parallel to the longitudinal axis of the vessel when supported in a horizontal position on the upright deck and the top end of the wind turbine assembly is coupled to the load coupling device.

61. The vessel of one or more of clauses 58-60, wherein the truck rail is aligned with the axis of rotation of the lifting device such that a central axis of a wind turbine assembly supported by the truck at one end and coupled with the cart at the other end is aligned with the axis of rotation of the lifting device.

62. The vessel of one or more of clauses 58-60, wherein the upright deck with the truck rail is located on a central axis of the vessel and the lifting device is mounted away from the central axis of the vessel, e.g. along a side of the vessel, and wherein the truck rail is thus not aligned with the swivel axis of the lifting device.

63. The vessel of one or more of clauses 57-62, wherein the clamp is a pile clamp and is located at a stern of the vessel for engaging a pile supported by the lifting device on a central longitudinal axis of the vessel.

64. The vessel of clause 63, wherein the vessel comprises a recess at the stern of the vessel flanked by two deck portions, and wherein the pile holder is configured to guide a mono-pile in the recess.

65. The vessel of clause 64, wherein the pile holder is mounted on one of the deck sections and the upright crane is mounted on the other deck section.

66. The vessel of clause 65, wherein the upright deck is disposed on a central axis of the vessel and aligned with the recess, and wherein storage decks are disposed on opposite sides of the upright deck, the storage decks being aligned with the deck portions, and wherein the storage decks aligned with the deck portions of the mounting crane are provided with storage for wind turbine blades.

67. The vessel according to one or more of clauses 57-66, wherein the vessel is provided with a wind turbine assembly station at the end of the upright deck and adjacent to the lifting device for assembling a wind turbine, i.e. for mounting a nacelle on a tower and for providing the nacelle with blades.

68. The vessel of one or more of clauses 57-67, wherein the lifting device comprises a blade mounting device mountable to the cart for supporting wind turbine blades and for positioning the blades relative to a nacelle mounted on a tower supported in a wind turbine assembly station adjacent the lifting device.

69. The vessel of clause 68, wherein the blade mounting arrangement comprises:

70. The vessel of one or more of clauses 57-69, wherein the cart is configured to support an assembled wind turbine, and wherein the lifting device is provided with a second cart for engaging a tower of the assembled wind turbine at a lower end of the assembled wind turbine to stabilize the assembled wind turbine when supported by the lifting device.

71. The vessel of one or more of clauses 57-70, wherein the clamp is a base clamp configured to engage the floating base to position the floating base in a horizontal plane relative to the vessel and/or to stabilize the floating base relative to the vessel.

72. The vessel of one or more of clauses 57-70, wherein the clamp is a mono-pile clamp configured for guiding a mono-pile lowered in proximity to the vessel using the erection crane.

73. The vessel of one or more of clauses 57-72, wherein the vessel comprises a base clamp and a mono-block pile clamp, preferably the pile clamp is integrated in the base clamp.

74. A method for erecting a wind turbine assembly using the installation vessel according to one or more of clauses 57-73, wherein the method comprises the steps of:

-lifting the wind turbine assembly in a horizontal position onto the upright deck using a crane with the boom in a raised and lowered position and a storage crane, the crane with the boom in a raised and lowered position for lifting one end of the wind turbine assembly and the storage crane lifting the other end of the wind turbine assembly;

-moving the boom from a raised position to a raised upright position;

-engaging the wind turbine assembly with a wind turbine assembly engagement device supported by the load coupling device and/or the cart;

-erecting the wind turbine assembly using the crane with the boom in an erect position for lifting one end of the wind turbine assembly by moving the trolley along the boom from a lowered coupling position to a raised supporting position.

75. The method of clause 74, wherein the wind turbine component is a cell pile, wherein the gripper is a cell pile gripper, and wherein the method further comprises the steps of:

Claims

1. A vessel for offshore installation of a pile for supporting a wind turbine, the vessel comprising a hull, lifting means and a pile holder, and having an X-Y plane,

wherein, the hoisting device includes:

a base via which the lifting device is supported by the hull,

an elongated upright superstructure is provided,

Wherein the pile holder comprises

-a gripper base via which the pile grippers are supported by the hull, and

a gripping device configured to engage the vertically oriented pile at its lower end so as to limit the movement of the pile in the X-Y plane, i.e. perpendicular to the longitudinal axis of the pile, relative to the gripper base, and to guide the vertical movement of the pile by said gripping device, i.e. movement in the direction of the longitudinal axis of the pile,

wherein the pile engaging means and the gripping means are capable of moving, when both engage the pile while supporting the pile, from an inboard support position in which the pile engaging means is in an upper position and the pile is above the hull, to an outboard installation position in which the pile is outboard of the contour of the vessel by being movable each in an X-Y plane relative to the vessel while moving relative to the hull from the inboard support position to the pile,

wherein the lifting device further comprises one or more displacement actuator assemblies operating between the vessel and the pile engaging device, for example between the base and the superstructure, and the base of the pile gripper further comprises one or more displacement actuator assemblies operating between the gripper base and the gripping device for actuating movement of the pile engaging device and gripping device from an inboard support position to an outboard installation position.

2. The vessel according to claim 1, wherein the lifting device comprises a swivel bearing between a base of the lifting device and the upstanding superstructure, wherein the swivel bearing enables the superstructure to swivel relative to the base about a swivel axis extending in the Z-direction of the vessel,

and wherein the movement of the pile from the inboard support position to the outboard installation position, considered in the X-Y plane of the vessel, involves rotation of both the pile engaging means and the gripping means, and thus rotation of the pile upon engagement about the swivel axis of the lifting means.

3. Vessel according to claim 1 or 2, wherein the clamp base comprises one or more clamp guides, such as clamp rails, mounted to the deck of the hull and defining a rail for the clamping means, the clamping means comprising one or more skid shoes, such as rollers, for engaging the rail, wherein movement of the clamping means from an inboard support position to an outboard mounting position of the pile involves moving the clamping means along the rail.

4. A vessel according to claim 2 and 3, wherein the movement of the gripping means from the inboard support position to the outboard installation position of the pile has a movement track defined by the swivel bearings of the lifting means for the pile engaging means and by the track of the gripping means, the track being a curved track, for example, wherein the movement track is in the shape of a circular section.

5. Vessel according to any one or more of claims 1-4, wherein the base of the lifting device and the gripper base are spaced apart from each other, considered in the X-Y plane of the vessel, and the movement of the pile from the inboard support position to the outboard installation position has a movement track passing between the base of the lifting device and the gripper base.

6. The vessel according to any one or more of claims 1-5, wherein movement of the pile from the inboard support position to the outboard installation position involves relative movement of the pile engaging means relative to the base of the lifting means, the relative movement being opposite to relative movement of the gripping means relative to the gripper base.

7. Vessel according to any one or more of claims 1-6, wherein the vessel comprises a recess in the longitudinal direction (X) of the vessel at the stern of the vessel, which recess is laterally flanked by two deck sections, wherein a movement trajectory from an inboard support position to an outboard installation position extends laterally between the two deck sections, and wherein the outboard installation position is within the recess, considered in the X-Y plane of the vessel.

8. Vessel according to at least claims 5 and 7, wherein the base of the lifting device is located on one side of the recess, e.g. at least partly on one of the two deck sections, and the holder base is located on the other side of the recess, e.g. at least partly on the other of the two deck sections.

9. Vessel according to any one or more of claims 1-7, wherein the vessel comprises an erection deck, along which the bottom end of the pile is movable from a position longitudinally away from the base of the lifting device, e.g. at the bow of the vessel, to a position adjacent to the base of the lifting device, e.g. at the stern of the vessel, for erection by operation of the lifting assembly of the lifting device for lifting the top end of the pile, wherein the pile is erected in its upstanding orientation along the upstanding superstructure in an inboard support position.

10. Vessel according to any one or more of claims 1-9, wherein the clamping device comprises a ring comprising a plurality of pile engaging tools distributed around the circumference of the ring, each pile engaging tool being adapted to engage an outer portion of a pile extending through the ring in its upright orientation, e.g. each pile engaging tool comprising one or more pile guide rollers.

11. A vessel as claimed in claim 10, wherein the ring of the clamping means comprises a ring base and one or more movable jaws, such as two jaws, forming respective sections of the ring and being movable between a closed position in which the ring forms a closed loop and an open position in which a pile can pass laterally into and out of the ring through an opening in the loop between the jaws.

12. Vessel according to claim 9 and 11, wherein the ring of the clamping device is pivotable relative to the clamp base about a central pivot axis of the ring in its closed position by means of one or more ring-pivot actuators, such that the opening between the jaws of the open position of the ring is movable from an angular position relative to the central pivot axis, where the opening faces the standing deck of the hull of the vessel in the inboard support position of the pile, and an angular position relative to the central pivot axis, where the opening faces the water surface, including in the outboard installation position of the pile.

13. Vessel according to any one or more of claims 1-12, further comprising a control unit operatively connectable to the displacement actuator assembly of the lifting device and the displacement actuator assembly of the gripper, and programmed for simultaneously operating the lifting device and the actuator assembly of the pile gripper to simultaneously move the pile engaging device and the gripping device relative to the vessel and thereby the engaged and supported pile from an inboard support position to an outboard installation position.

14. Vessel according to any one or more of claims 1-13, wherein the lifting device is a crane, the base of the lifting device is a crane base, the upright superstructure is an upright crane superstructure, and the lifting assembly is a lifting assembly comprising one or more lifting winches and one or more associated lifting cables.

15. Vessel according to any one or more of claims 1-14, wherein the upstanding superstructure of the lifting device is provided with a trolley guide, e.g. a track comprising one or more guide rails extending in its longitudinal direction along the upstanding superstructure, and the pile engaging means is arranged on the superstructure via a trolley movable along the guide rails, e.g. via a coupling, if present, e.g. a coupling by means of which the lifting assembly is connected or connectable to the pile engaging means and/or the pile engaging means.

16. Vessel according to claim 14 and 15, wherein the lifting assembly comprises an upper sheave assembly at the upright superstructure, and the lifting assembly is connected or connectable to the pile engaging means and/or coupling of the pile engaging means via a load coupling means comprising a lower sheave assembly, e.g. by means of its connection to a trolley, the lifting cable being arranged to pass through multiple rumbles of the upper sheave assembly and the lower sheave assembly to enable a crane to lift a load using a lifting winch.

17. Vessel according to at least claim 14, wherein the crane superstructure comprises

-a crane housing, and

a boom, wherein the boom extends between a boom base end and a boom tip, wherein the boom is pivotably supported at the boom base end by the crane housing about a horizontal boom pivot axis, the boom having a lowered position for lifting a load at a horizontal distance from the crane base and a raised upright position for forming the upright superstructure for erecting a pile along the crane base,

the crane further comprises:

18. Vessel according to any one or more of claims 1-12, wherein the pile clamp comprises an active motion compensation actuation system for moving the clamp device relative to the vessel in the X-Y plane of the vessel, wherein the actuation system comprises an active sea state induced motion compensation mode in which the actuation system is operated to compensate for sea state induced motions of the vessel in the X-Y plane, including keeping the overboard installation position unaffected by sea state induced vessel motions.

19. A vessel according to claim 18, wherein the active motion compensation actuation system of the gripper comprises one or more first rails, such as rails, extending non-parallel to each other in the X-Y plane of the vessel, and one or more second rails, such as rails, movable on the first rails, the actuation system further comprising one or more first compensation actuators operating between the first and second rails for moving the second rails on the first rails, and one or more second compensation actuators operating between the second rails and the gripping device for moving the gripping device on the second rails.

20. Vessel according to any one or more of claims 1-19, wherein the pile engagement device and optionally its coupling, if present, are arranged on an active motion compensation actuation system of the trolley, wherein the active motion compensation actuation system is configured for moving the pile engagement device relative to the trolley guide in the X-Y plane of the vessel, e.g. via the coupling, if present, wherein the actuation system comprises an active sea state induced motion compensation mode in which the actuation system is operated to compensate for wave induced motions of the vessel in the X-Y plane, including keeping the overboard installation position unaffected by sea state induced vessel motions.

21. The vessel according to claim 20, wherein the active motion compensation actuation system of the trolley comprises one or more first rails, such as rails, extending non-parallel to each other in the X-Y plane of the vessel, and one or more second rails, such as rails, movable on the first rails, the actuation system further comprising one or more first compensation actuator assemblies operative between the first and second rails for moving the second rails on the first rails, and one or more second compensation actuator assemblies operative between the second rails and the coupling of the pile engagement device and/or the coupling for moving the pile engagement device and/or the coupling on the second rails.

22. A vessel according to claim 13, claim 18 or claim 19 and claim 20 or claim 21, wherein the control unit is operatively connectable to the active motion compensation actuation system of the lifting device and the pile holder and programmed to operate the active motion compensation actuation system of the lifting device and the pile holder simultaneously for moving the pile engagement device and the gripping device synchronously and accordingly in the X-Y plane of the vessel with respect to the vessel to compensate for sea state induced motions of the vessel in the X-Y plane, including keeping the overboard mounting position unaffected by sea state induced vessel motions.

23. A pile holder for a vessel according to any one or more of claims 1-22, the pile holder comprising

wherein the base of the pile gripper provides mobility of the gripping means such that when the base of the pile gripper is secured to the hull near the edge of the hull, the gripping means is movable relative to the vessel from an inboard support position for the pile above the hull to an outboard installation position for the pile outside the contour of the vessel while engaging the lower end of the pile in an upright orientation and restricting horizontal movement of the pile to guide movement of the pile while the pile is at least partially supported via the pile engaging means of the lifting means which simultaneously performs the same,

wherein the movement of the gripping means from the inboard support position of the post to the outboard installation position has a trajectory that is shaped relative to the circular section of the vessel.

24. A pile holder for a vessel according to any one or more of claims 1-22, the pile holder comprising

25. A marine vessel for offshore installation of a pile for supporting a wind turbine, the vessel comprising a hull, a lifting device and a pile holder,

wherein the pile gripper is a pile gripper according to claim 23 and/or claim 24, wherein the pile gripper is secured to the hull near the hull edge of the vessel by mounting the gripper base to the hull,

For example a vessel according to any one or more of claims 1-22.

26. A lifting device for a vessel according to any one or more of claims 1-22, the lifting device comprising

an elongated upright superstructure is provided,

wherein, when the base is secured to the hull near the hull edge by its mobility relative to the vessel, for example relative to the base of the lifting device, said pile engaging means, while engaging the pile and at least partially supporting the engaged pile via the top end of the engaged pile, is movable relative to the hull from an inboard support position, in which the pile engaging means is in an upper position and in which the pile is above the hull, to an outboard mounting position of the pile in which the pile is outside the profile of the vessel, so as to move the pile when guided by the clamping means of the pile clamp performing the same movement,

wherein the lifting device further comprises one or more displacement actuator assemblies operative between the vessel and the pile engaging device, for example between the base and the superstructure, for actuating movement of the pile engaging device from the inboard support position to the outboard installation position when the base is secured to the hull.

27. A control unit for a vessel according to any one or more of claims 1-22, wherein the control unit is configured to be operatively connected to the displacement actuator assembly of the lifting device and the displacement actuator assembly of the pile gripper, and programmed for simultaneously operating the lifting device actuator and the gripper actuator to simultaneously move the pile engaging device relative to the vessel and thereby move the engaged and supported pile from an inboard support position to an outboard installation position.

28. The control unit according to claim 27, for a vessel according to claim 13, claim 18 or claim 19 and claim 20 or claim 21,

wherein the control unit is configured to be operatively connected to the active motion compensation actuation system of the lifting device and the pile holder and programmed to operate the active motion compensation actuation system of the lifting device and the pile holder simultaneously for moving the pile engaging device and the holding device synchronously and accordingly in an X-Y plane of the vessel with respect to the vessel, thereby compensating for wave induced motions of the vessel in the X-Y plane, including keeping the overboard mounting position unaffected by vessel motions.

29. A control unit according to claim 27 or 28 for a vessel according to claim 12, wherein the control unit is configured to be operatively connected to a ring swivel actuator and programmed to operate the swivel actuator to face the opening to the erection deck before reaching the in-vessel support position of the pile so that the pile can pass through the opening with its bottom end when it is erected to its in-vessel support position and after the pile has reached the in-vessel support position, preferably after operating the displacement actuator assembly of the lifting device and pile holder to move the pile to the out-of-vessel installation position.

30. A marine vessel for offshore installation of a pile for supporting a wind turbine, the vessel comprising a hull, a lifting device and a pile holder,

Wherein the pile holder comprises

-a gripper base via which the pile grippers are supported by the hull, and

wherein the pile holder has a receiving mode in which the opening of the holding means is directed towards the standing deck, such that the pile can pass through the opening with its bottom end when the pile is standing in its in-ship supporting position to its standing orientation,

and wherein the pile holder has a guiding mode in which a bottom end of a pile passing through the opening and being oriented upright in an inboard support position can extend through the holding means and be engaged circumferentially at its outer periphery by the pile holder,

for example wherein the pile holder is according to any one or more of claims 10-12.