EP3390265A1 - Ensemble de levage à compensation de mouvement tridimensionnelle pour grues - Google Patents

Ensemble de levage à compensation de mouvement tridimensionnelle pour grues

Info

Publication number
EP3390265A1
EP3390265A1 EP16813058.1A EP16813058A EP3390265A1 EP 3390265 A1 EP3390265 A1 EP 3390265A1 EP 16813058 A EP16813058 A EP 16813058A EP 3390265 A1 EP3390265 A1 EP 3390265A1
Authority
EP
European Patent Office
Prior art keywords
motion
lifting assembly
crane
compensated lifting
telescopic boom
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16813058.1A
Other languages
German (de)
English (en)
Other versions
EP3390265B1 (fr
Inventor
Tormod Harald OLSEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Van Aalst Group BV
Original Assignee
Van Aalst Group BV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Van Aalst Group BV filed Critical Van Aalst Group BV
Publication of EP3390265A1 publication Critical patent/EP3390265A1/fr
Application granted granted Critical
Publication of EP3390265B1 publication Critical patent/EP3390265B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes

Definitions

  • the present invention is related to a 3D motion-compensated lifting assembly for cranes, according to the preamble of claim 1.
  • the present invention is especially related to a 3D motion-compensated lifting assembly for offshore cranes, designed to be arranged to a tip of the crane.
  • Especially the present invention is designed to accommodate the installation and maintenance of offshore structures and being arranged to standard cranes, especially knuckle jib deck cranes, on a vessel, barge or seagoing craft performing such operations.
  • US7044314 B2 (Virginia Tech Intellectual Properties) is generally related to a control system and method for controlling dynamical systems and especially a control system for reducing cargo pendulation in cranes on vessels.
  • the main object of the present invention is to provide a 3D motion-compensated lifting assembly for a crane partly or entirely solving the drawbacks of prior art.
  • a further object of the present invention is to provide a 3D motion-compensated lifting assembly for a crane which can be used for both existing maritime/offshore cranes and new maritime/offshore cranes.
  • An object of the present invention is to provide a 3D motion-compensated lifting assembly including all features necessary for achieving full 3D motion-compensation, i.e. the assembly being self-supplied. It is further an object of the present invention to provide a 3D motion-compensated lifting assembly for a crane which provide efficient and accurate offshore load handling.
  • a 3D motion-compensated lifting assembly for a crane is described in claim 1. Preferable features of the 3D motion-compensated lifting assembly are described in the dependent claims.
  • the present invention is based on a prior art (standard) crane, e.g. cranes known as a knuckle jib deck cranes, i.e. a crane having a lower arm and an elbow arm arranged at distal end of the lower arm, and provides a 3D motion-compensated lifting assembly to be arranged to a distal end of the elbow arm, providing a reliable, long time operation and stowing in a tough and corrosive offshore marine environment.
  • a crane with the 3D motion-compensated lifting assembly according to the present invention will be designed with major structural and mechanical overcapacity for offshore structures operation on open deck of offshore vessels and for safe stowing on aft deck of such vessels.
  • Offshore structure is according to the present invention an offshore structure which is floating or fixed to seabed, floating being shipshape, propelled or moored.
  • a typical example is an offshore wind turbine which in the following description will be used as an example of an offshore structure.
  • a crane with the 3D motion-compensated lifting assembly according to the present invention will be designed with a general crane dynamic factor allowing for offshore structure operations in accordance with current regulations.
  • the 3D motion-compensated lifting assembly according to the present invention provides compensation of movement in all three directions Z, X and Y, caused by the movement of the vessel in roll, pitch, yaw, heave, surge and sway.
  • the 3D motion-compensated lifting assembly according to the present invention includes a connection assembly which is designed for arrangement to the distal end of the elbow arm of the crane.
  • connection assembly is further preferably provided with a movable (tiltable) interface in vertical direction in relation to the elbow arm.
  • the 3D motion-compensated lifting assembly further includes a telescopic boom which is arranged to the connection assembly.
  • the connection assembly is further arranged with a rotational interface enabling rotation of the telescopic boom in relation to the elbow arm.
  • the telescopic boom may further be arranged movably (tiltable) in the vertical direction in relation to the connection assembly. This features is an optional feature. Accordingly, the telescopic boom can be fixed or movable (tiltable) arranged to the connection assembly.
  • the 3D motion-compensated lifting assembly according to the present invention is further provided with a winch with full AHC (active heave compensation) compensation to pay out and reel in load wire via a guide sheave arranged at front end of the telescopic boom and the winch being arranged at rear end of the telescopic boom.
  • AHC active heave compensation
  • the 3D motion-compensated lifting assembly according to the present invention will among others be controlled based on input from a motion reference unit (MRU) or similar, informing about the movements of the vessel, barge or craft the crane is arranged on, hereinafter referred to as vessel.
  • MRU motion reference unit
  • the 3D motion-compensated lifting assembly is arranged for compensation of the movements experienced by the crane and accordingly the load being handled by the crane in the dimensions Z, X and Y by: - Extending and retracting the telescopic boom enable compensation in the Z-direction in the reference frame of the crane (caused by sway, roll and yaw motions of the vessel),
  • Rotation of the telescopic boom enable compensation in the X-direction in the reference frame of the crane (caused by surge, yaw and pitch motions of the vessel), - Controlling the winch enable compensation in the Y-direction in the reference frame of the crane (caused by heave, roll and pitch motions of the vessel).
  • the 3D motion-compensated lifting assembly provides fully motion-compensation in all three directions Z, X and Y direction, in the reference frame of the crane, in relation to the movements of the vessel.
  • the 3D motion-compensated lifting assembly further provides, by that the telescopic boom is movable (tiltable) in vertical direction in relation to the elbow arm, that compensation in the Z-direction (by extending and retracting the telescopic boom horizontally) is effective within different angle positions of the elbow arm. Further, by arranging a position reference sensor on an offshore structure and a position reference sensor receiver on the crane/3D motion-compensated lifting assembly the controlling of the 3D motion-compensated lifting assembly can be further enhanced.
  • the present invention provides a crane with a 3D motion-compensated lifting assembly according to the present invention which is designed for efficient and accurate offshore structure /wind turbine load handling of general cargo and offshore structure/wind turbine cargo at specified load curves.
  • a crane with a 3D motion-compensated lifting assembly provides a crane being able to launch and retrieve loads at an offshore structure/wind turbine platform, with practical no relative heave motion on the load relative the offshore structure/wind turbine platform.
  • a crane with the 3D motion-compensated lifting assembly according to the present invention will have the flexibility/ability to operate in wave heights up to Hs 2.5 m or higher resulting in that the operation can continue even if the weather window deteriorate under a operation.
  • the present invention is adaptable to any maximum wave height required for a given application, by engineering appropriate distance and speed capacity of the compensation in X, Y and Z directions.
  • the present invention provides a 3D motion-compensated lifting assembly which enables the lifting hook to be “locked” in relation to the offshore structure/wind turbine platform and by means of controlling the 3D motion-compensated lifting assembly compensate for motions of the vessel and keep the load steady. Further, by the present invention is achieved a 3D motion-compensated lifting assembly which increases vessel operability, is more cost-effective in relation to prior art, and can be used in harsher weather conditions compared to prior art solutions.
  • 3D motion-compensated lifting assembly according to the present invention both existing (standard) cranes and new cranes in the offshore wind industry and the oil and gas markets can be 3D motion compensated in a simple manner by arranging it to the tip of the crane.
  • the 3D motion-compensated lifting assembly according to the present invention can be used by cranes not provided with a winch arrangement to enable winch features.
  • the 3D-motion-compensated lifting assembly can be arranged to the crane so that it can operate above the horizontal plane of the crane tip or arranged to the crane so that it can operate under the horizontal plane of the crane tip.
  • Figure 1 is a principle drawing of a crane of prior art
  • Figures 2a-c show principle drawings of a 3D motion-compensated lifting assembly according to the present invention
  • Figures 3a-c show principle drawings of a 3D motion-compensated lifting assembly according to the present invention arranged to a standard offshore crane
  • FIG 4 is a block diagram of a control system for controlling the 3D motion-compensated lifting assembly according to the present invention
  • Figure 5 is a principle drawing of a modification of the 3D motion-compensated lifting assembly according to the present invention.
  • FIG 1 is a principle drawing of an offshore crane 101, in the form of a knuckle jib deck crane, according to prior art.
  • the crane 101 has a base structure 102 formed by a base platform 103 mounted on the upper end of a rotatable pedestal 104 arranged to a corresponding structure on a vessel (not shown) or similar.
  • the pedestal 104 allows the crane 101 to be rotated about the pedestal 104 by a rotational drive system, which is well known in prior art and needs no further description herein.
  • the crane 101 further includes a lower arm 110 having a lower end pivotally mounted on the pedestal 104.
  • the arm 110 can be raised and lowered by actuation of hydraulic cylinders 112 having their lower ends arranged to the pedestal 104 and their upper ends arranged to an intermediate location along the length of the arm 110.
  • the crane 101 also includes an upper elbow arm 120 having a lower end arranged to the upper end portion of the lower arm 110.
  • the upper elbow arm 120 is pivotally connected relative to the lower arm 110 by hydraulic cylinders 121 having lower end portions pivotally arranged to an intermediate location along the lower arm 120 and upper end portions pivotally arranged an intermediate location along the length of the upper elbow arm 120.
  • Operation of the hydraulic cylinders 112 and 121 enables the crane 101 to be raised and lowered as well as to be extended and retracted.
  • the crane 101 further includes a main load winch 130 mounted on the lower end portion of arm 110 or the base 103 to pay out or reel in a main load wire 131 which is wound about a spool 132.
  • a hook 133 is attached to the distal end of the wire 131.
  • the wire 131 extends over a guide sheave 134 mounted on the distal end of arm 110, a further guide sheave 135 mounted on the lower or proximal end of elbow arm 120, and a distal sheave 136 mounted on the distal end portion of the elbow arm 120.
  • the 3D motion-compensated lifting assembly 200 includes three main components in the form of a connection assembly 300, a telescopic boom 400 arranged to the connection assembly 300, and winch 500 arranged to the telescopic boom 400.
  • the connection assembly 300 is formed by an arm connection device 310 adapted for arrangement to the distal end of the elbow arm 120, replacing the distal sheave 136 in Figure 1.
  • the connection assembly 300 further includes a boom connection device 320 for arrangement to the telescopic boom 400.
  • the boom connection device 320 is pivotably arranged to the telescoping boom 400 via ears 321 arranged at lower side of the telescopic boom 400.
  • the connection assembly further includes an intermediate connection device 330 connecting the arm connection device 310 and boom connection device 320.
  • the intermediate connection device 330 is arranged with a rotational interface 331 between the boom connection device 320 and the arm connection device 310 so that the telescopic boom 400 can be rotated in relation to the elbow arm 120.
  • the rotational interface 331 can be achieved as shown in the example by a slewing ring 332 with at least one slewing gear drive 333 or at least one linear actuator 334 (as shown in Figure 2c), such as a hydraulic cylinder, providing a rotational movement of respective parts in relation to each other.
  • the telescopic boom 400 may further be arranged movable (tiltable) in vertical direction in relation to the boom connection device 320 by at least one linear actuator 322, such as a hydraulic cylinder, having upper end portions pivotally arranged to an intermediate location 323 along the telescopic boom 400 and lower end portions pivotally arranged an intermediate location along the length of the intermediate connection device 330.
  • a linear actuator 322 such as a hydraulic cylinder
  • this feature is optional, and even if this feature is shown in the drawings, this feature is not necessary for the invention to work as intended/described.
  • the telescopic boom 400 can be fixed or arranged movable (tiltable) to the boom connection assembly 300.
  • the arm connection device 310 is further arranged movable in relation to the intermediate connection device 330 by that the arm connection device 310 at upper side thereof is pinned to lower side of the intermediate connection device 330, and the lower side of the arm connection device 310 is arranged to the other side (preferably positioned some closer to the rotational interface 331) of the intermediate connection device 330 by means of two links 311 and 312, and wherein at least one linear actuator 313, such as a hydraulic cylinder, with is lower end portions pivotally arranged to the link 311 and the upper end portions of the linear actuator 313 is arranged to the pinned connection between the upper side of the arm connection device 310 and the lower side of the intermediate connection device 330.
  • at least one linear actuator 313, such as a hydraulic cylinder with is lower end portions pivotally arranged to the link 311 and the upper end portions of the linear actuator 313 is arranged to the pinned connection between the upper side of the arm connection device 310 and the lower side of the intermediate connection device 330.
  • the telescopic boom 400 is formed by two parallel telescopic beams 401 and 402 with a given distance between them and fixed to each other at both ends, where each telescopic beam 401, 402 are formed by an outer hollow beam 401a and 402a, respectively, and an inner hollow beam 401b, 402b, respectively, arranged movable in the outer hollow beam 401a, 402a, respectively, wherein the inner hollow beams 401b, 402b are arranged to each other at the free end by a holder device 403 for a guide sheave 404.
  • a linear actuator 405 such as a hydraulic cylinder
  • the mentioned winch 500 is arranged to pay out or reel in a load wire 501 which is wound about a spool 502.
  • a hook 503 is attached to the distal end of the wire 501.
  • the wire 501 extends over the guide sheave 404 mounted on the distal end of telescopic boom 400.
  • the winch 500 is preferably a winch with full AHC (active heave compensation).
  • the 3D motion-compensated lifting assembly 200 is preferably provided with a power and control unit 600, e.g. hydraulic reservoir, valves, hydraulic lines and hydraulic pump(s) for supplying and controlling the hydraulic cylinders with hydraulic fluid.
  • a power and control unit 600 e.g. hydraulic reservoir, valves, hydraulic lines and hydraulic pump(s) for supplying and controlling the hydraulic cylinders with hydraulic fluid.
  • a control unit for controlling each of the hydraulic cylinders and the winch 500.
  • the power and control unit 600 will be provided with an interface (wireless or wired) to a crane control system 700, further described below.
  • the telescopic boom 400 can be extended and retracted for compensating for movement of the distal end of the crane elbow arm 120 in the Z direction, in the reference frame of the crane 101 (caused by sway, roll and yaw motions of the vessel, barge or craft).
  • the rotation of the telescopic boom 400 in relation to the arm connection 310 can be used for compensating for movement of the distal end of the crane elbow arm 120 in the X direction, in the reference frame of the crane 101 (caused by surge, yaw and pitch motions of the vessel, barge or craft).
  • the winch 500 with full AHC can be used for compensating for movement of the distal end of the crane elbow arm 120 in the Y direction, in the reference frame of the crane 101 (caused by heave, roll and pitch motions of the vessel, barge or craft).
  • the crane is fully compensated in all 3 directions, Z, X and Y direction.
  • FIGS 3a-c the above described 3D motion-compensated lifting assembly 200 is shown arranged to a crane 101. Accordingly, with the present invention in the form of the novel 3D motion-compensated lifting assembly 200, the 3D motion-compensated lifting assembly 200 is provided with a winch 500, resulting in that the main winch 130, wire 131 and guide sheaves 134- 133 are not requested for the crane 101, as the functionality of these are already present in the 3D motion-compensated lifting assembly 200. However in most cases, the owner will usually like to have both these possibilities.
  • the elbow arm 120 will preferably have an interface to combine either 3D motion- compensated lifting assembly 200 or a complete derrick head with two guide sheaves 134-135, so that if the 3D motion-compensated lifting assembly 200 needs maintenance the 3D motion- compensated lifting assembly 200 can easily be removed and the derrick head replaced.
  • the derrick head will typically be connected by a single wire to an AHC controlled winch placed on the top of the elbow boom or as shown in Figure 1 a winch 130 arranged the base of the crane 101.
  • Figure 3a shows the 3D motion-compensated lifting assembly 200 arranged to the crane 101 and where the 3D motion-compensated lifting assembly 200 (and crane 101) is in working position and ready to handle a load.
  • Figure 3b it is shown a situation where the crane 101 with the 3D motion-compensated lifting assembly 200 is set in a stowed position, showing that the crane 101 with a 3D motion- compensated lifting assembly 200 will take minimum space on a deck of a vessel. Due to the properties and movability of the 3D motion-compensated lifting assembly 200 this will not require more space on the vessel than a crane 101 without such a lifting assembly 200.
  • the crane 101 with the 3D motion-compensated lifting assembly 200 is set in a stowed position, showing that the crane 101 with a 3D motion- compensated lifting assembly 200 will take minimum space on a deck of a vessel. Due to the properties and movability of the 3D motion-compensated lifting assembly 200 this will not require more space on the vessel than a crane 101 without such a lifting assembly 200.
  • Figure 3c it is shown a typical area of use of the present invention, where the crane 101 with the 3D motion-compensated lifting assembly 200 is arranged on a vessel 800 and performing a lifting operation in relation to an offshore structure in the form of a wind turbine platform 811 of a wind turbine 810 (only parts of the wind turbine is shown). It should further be noted that the 3D motion-compensated lifting assembly 200 will extend the lifting range of the crane 101 in the horizontal direction, as can be seen in e.g. Figure 3c.
  • the arm connection device 310 is preferably adapted such that the 3D motion-compensated lifting assembly 200 can be arranged both as shown in the Figures, accordingly operating in a plane above the distal end of the elbow arm 120, and turned upside down so that the 3D motion-compensated lifting assembly 200 operates in a plane below the distal end of the elbow arm 120.
  • FIG. 4 showing a block diagram of a crane control system for controlling the crane 101.
  • the vessel, barge or seagoing craft movements are typically measured by a MRU (motion reference unit) providing information about the vessel, barge or seagoing craft movements in sway, surge, heave, yaw, pitch and roll for the reference frame of the vessel, barge or seagoing craft.
  • MRU motion reference unit
  • a crane control system By a crane control system the measured movements of the vessel, craft or barge are transformed into the reference frame of the crane 101 and the necessary compensation to counteract these movements are calculated.
  • the crane can be operated in normal operation to the crane tip is positioned in the vicinity of the area where the load is, whereupon the load is picked up and the compensation system activated.
  • the present invention will then hold the load stable in relation to the vessel, barge or craft.
  • the use of the present invention can further be improved by arranging a proximity sensor on the structure of the wind turbine 810 or similar a crane operation is to be performed in relation to, for preventing the 3D motion-compensated lifting assembly 200 for colliding with the structure.
  • the control system can, based on information from the proximity sensor be arranged to control the 3D motion-compensated lifting assembly 200 to a safe position at danger for collision.
  • the present invention can be modified by providing the telescopic boom 400 with a vertical telescopic boom 900 hinged at lower side of the telescopic boom 400, at rear side thereof, and provided with an eye 901 at the distal end, through which the wire 501 runs.
  • the vertical telescopic boom 900 will be able to compensate for pendulation, and extend and retract with the wire being reeled in or out, as shown in Figure 5 (In Figure 5 details of the 3D motion- compensated lifting assembly 200 is omitted for simplification of the modification principle).
  • the vertical telescopic boom 900 When the wire 501 is reeled out the vertical telescopic boom 900 will extend and when the wire is reeled in the vertical telescopic boom 900 will retract, accordingly, adapting to the length of the wire 501 and provide a self-adjusting compensation means for pendulation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

La présente invention concerne un ensemble de levage à compensation de mouvement tridimensionnelle (200) pour grue (101) placé sur un navire, une barge ou une embarcation maritime, ladite grue comprenant un bras inférieur (110) et un bras coudé (120) supérieur, et l'ensemble de levage à compensation de mouvement tridimensionnelle (200) comprenant : un ensemble de raccordement (300) conçu pour être disposé à une extrémité distale du bras coudé (120), l'ensemble de raccordement (300) présentant une interface de rotation (331) ; une flèche télescopique (400) conçue pour l'interface de rotation (331) du module de raccordement (300) ; et un treuil (500) avec système de compensation de houle actif placé sur la flèche télescopique (400).
EP16813058.1A 2015-12-18 2016-12-16 Ensemble de levage à compensation de mouvement tridimensionnelle pour grues Active EP3390265B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20151817A NO343528B1 (en) 2015-12-18 2015-12-18 3D motion-compensated lifting assembly for cranes
PCT/EP2016/081474 WO2017103139A1 (fr) 2015-12-18 2016-12-16 Ensemble de levage à compensation de mouvement tridimensionnelle pour grues

Publications (2)

Publication Number Publication Date
EP3390265A1 true EP3390265A1 (fr) 2018-10-24
EP3390265B1 EP3390265B1 (fr) 2019-10-02

Family

ID=57570409

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16813058.1A Active EP3390265B1 (fr) 2015-12-18 2016-12-16 Ensemble de levage à compensation de mouvement tridimensionnelle pour grues

Country Status (3)

Country Link
EP (1) EP3390265B1 (fr)
NO (1) NO343528B1 (fr)
WO (1) WO2017103139A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3105200A1 (fr) * 2019-12-24 2021-06-25 Reel Grue à flèche articulée, pour application offshore
CN114212704A (zh) * 2021-12-16 2022-03-22 大连海事大学 用于船用起重机减摇防摆的辅助臂

Families Citing this family (6)

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Publication number Priority date Publication date Assignee Title
NL2017937B1 (en) * 2016-12-06 2018-06-19 Itrec Bv A wave-induced motion compensating crane for use on an offshore vessel, vessel and load transferring method
CA3012945C (fr) 2017-11-22 2019-05-21 LiftWerx Holdings Inc. Systeme de levage installable dans une nacelle d'une eolienne
CN108045509A (zh) * 2017-12-04 2018-05-18 中国船舶重工集团公司第七〇九研究所 一种具有波浪补偿功能的回转伸缩舷梯
NL2020664B1 (en) 2018-03-26 2019-10-07 Barge Master Ip B V Offshore crane
NL2025683B1 (en) * 2020-05-26 2021-12-14 Eagle Access B V Offshore transfer system with internal relative movement compensation
NO20210885A1 (en) * 2021-07-08 2023-01-09 Norled As System for lifting and moving heavy objects

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Publication number Priority date Publication date Assignee Title
US20060151412A1 (en) * 2004-11-08 2006-07-13 Norcross Richard J Macro/micro crane
EP2370925B1 (fr) * 2008-12-15 2021-03-03 Oceaneering International, Inc. Système de manipulation pour approvisionnement en câblage
NL2007761C2 (en) * 2011-11-09 2013-05-13 Ihc Holland Ie Bv Vessel and crane with full dynamic compensation for vessel and wave motions.
CN204038915U (zh) * 2014-07-22 2014-12-24 广西梧州运龙港船机械制造有限公司 船用液压折臂伸缩吊机
CN204265312U (zh) * 2014-11-05 2015-04-15 无锡晟欧船舶设备有限公司 一种船用伸缩起重机

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3105200A1 (fr) * 2019-12-24 2021-06-25 Reel Grue à flèche articulée, pour application offshore
EP3842374A1 (fr) * 2019-12-24 2021-06-30 Reel Grue à flèche articulée, pour application offshore
US11731863B2 (en) 2019-12-24 2023-08-22 Reel Knuckle boom crane, for offshore application
CN114212704A (zh) * 2021-12-16 2022-03-22 大连海事大学 用于船用起重机减摇防摆的辅助臂

Also Published As

Publication number Publication date
EP3390265B1 (fr) 2019-10-02
NO343528B1 (en) 2019-04-01
WO2017103139A1 (fr) 2017-06-22
NO20151817A1 (en) 2017-06-19

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