EP4240683A1

EP4240683A1 - Lifting tool, a hoisting system comprising such a lifting tool and a hoisting method wherein use is made of such a lifting tool

Info

Publication number: EP4240683A1
Application number: EP21802717.5A
Authority: EP
Inventors: Terence Willem August Vehmeijer; David ROODENBURG; Maarten Hugo HOOFTMAN
Original assignee: Itrec BV
Current assignee: Huisman Equipment BV
Priority date: 2020-11-04
Filing date: 2021-11-03
Publication date: 2023-09-13
Also published as: NL2026821B1; WO2022096526A1

Abstract

The invention relates to a (spreader) lifting tool, a hoisting system comprising such a lifting tool and a hoisting method wherein use is made of such a lifting tool. The (spreader) lifting tool is configured to be suspended from a hoisting crane via one or more cables. The tool is provided with a stabilizing system comprising a movably supported mass and a mass actuator assembly that is configured for displacement of the mass in a horizontal plane in two non-parallel directions, e.g. an X-direction and an Y-direction.

Description

Title: Lifting tool, a hoisting system comprising such a lifting tool and a hoisting method wherein use is made of such a lifting tool

The present invention relates to a (spreader) lifting tool, a hoisting system comprising such a lifting tool and a hoisting method wherein use is made of such a lifting tool.

In many existing cranes, a lifting tool embodied as a crane hook assembly is provided, which is permanently fitted on a travelling block of the hoisting crane. From W02020055249 of the same applicant an exchangeable lifting tool is known, configured to be suspended from a hoisting crane via one or more cables. The lifting tool comprises a shank, configured to be connected to a load.

It is an object of the invention to provide a more versatile (spreader) lifting tool.

This object is achieved according to the first object of the invention in that the lifting tool is further provided with a stabilizing system comprising: a mass, movably supported with respect to the shank so as to be movable in a horizontal plane in two non-parallel directions, e.g. an X-direction and an Y- direction; a mass actuator assembly that is configured for displacement of the mass with respect to the shank in said horizontal plane in two non-parallel directions, e.g. an X-direction and an Y-direction.

The advantage of such a stabilizing system of the lifting tool is that it allows stabilization of the hoisting system including a hoisting crane and such a lifting tool in numerous situations. The stabilisation system may be operated statically or dynamically. In embodiments, the mass of the lifting tool is positioned such that it forms a counterweight for situations with an eccentric centre of gravity. In alternative embodiments, controlled motion of the mass of the lifting tool compensates for dynamic movements of the crane or the load. E.g. it compensates for oscillating loads, e.g. due to heave, wind, resonance.

In embodiments, the mass actuator assembly is configured and operated to displace the mass in a horizontal plane relative to the shank to a position wherein the mass then remains generally stationary during a lifting operation, e.g. the mass acting as a counterweight for a load that is suspended from the lifting tool. For example, this allows for bringing the common center of gravity of the load and of the lifting tool in alignment with the cable(s) from which they are suspended from a crane, e.g. from a crane boom.

In embodiments, the mass actuator assembly is configured and operated to provide controlled motion of the mass to a position during a lifting operation, e.g. wherein the mass is continuously repositioned during a lifting operation. For example, this controlled motion operation allows for the mass to counteract undue oscillations of the lifting tool or the combination of the lifting tool and the load. Such oscillations may, for example, occur during start and/or stopping of a slewing motion of a crane boom from which the lifting tool (possibly combined with the load) is suspended or in other circumstances, e.g. due to wave action when the crane is mounted on a vessel, e.g. due to wind, etc.

It will be appreciated that, in embodiments, the mass actuator assembly can be configured and operated to perform each of the modes described above.

In embodiments, the mass actuator assembly comprises one or more cylinders, preferably double-acting cylinders. The actuators are e.g. of a hydraulic, pneumatic, electric, or mechanical type.

The lifting tool is advantageously an exchangeable tool and the shank is provided with a shoulder, adapted to be mated with a tool connector, e.g. provided in a travelling block of a hoisting crane, e.g. a tool connector as disclosed in W02020055249.

Examples of lifting tools contemplated are lifting hooks, e.g. ramshorn hooks, four-pronged hooks, etc., or e.g. offshore installation equipment, e.g. piling equipment and/or foundation parts, for example a pile upending tool, a transition piece lifting tool, a subsea noise mitigation screen, etc.

Advantageously is the lifting tool further provided with one or more sensors, e.g. motion sensors, e.g. inertia-based motion sensors, and/or inclination sensors, and/or load sensors, that determine motion of, and/or orientation of, and/or forces acting on, the load suspended from the lifting tool. In an embodiment, the lifting tool is provided with a controller that is linked to said one or more sensors, said controller being linked to the mass support actuator, and/or a load connector support actuator, for controlling operation thereof. In embodiments, the mass actuator assembly is further configured for rotation of the mass with respect to the shank in said horizontal plane. For example, this allows to use the mass to set the rotation orientation of a load around a vertical axis.

Advantageously, the mass is provided in vertical direction close to the load to be connected to the shank. The closer the mass is to the load, the better a vertical force torque is prevented, which attributes to optimise stabilizing.

In embodiments, the mass is composed of multiple mass bodies, individually movably supported with respect to the shank. Advantageously, the mass actuator assembly comprises independent actuators for each of the multiple mass bodies. This allows optimisation of the configuration of the inventive lifting tool.

In embodiments, the mass is movably supported on the shank, advantageously on a carrier that is mounted on the shank. A bearing is provided between the mass and the shank or the carrier, e.g. air bearings, a roller bearing and/ or a bearing comprising slide pads. In embodiments, the mass is provided with a central slot through which the shank extends. For example, the mass has a donut-shape extending around the shank.

In embodiments, a load connector is provided which is configured to be connected to a load. The load connector may be mounted to, or formed integral with the shank. In such embodiments, it is also conceivable that the mass is movably supported by the load connector and a bearing is provided between the mass and the load connector, e.g. air bearings, a roller bearing and/ or a bearing comprising slide pads.

In embodiments, the mass is provided with a central slot through which the shank extends. For example, the mass has a donut-shape extending around the shank. In embodiments, in particular when the dimensions of the central slot are large enough, it is conceivable that at least part of the mass actuator assembly is provided inside the central slot.

In embodiments, the lifting tool further comprises a load positioning system comprising: a load connector configured to be connected to a load; a positioning mechanism mounting the load connector to the shank, wherein the positioning mechanism is configured for positioning of the load connector with respect to the shank in a horizontal plane in two non-parallel directions, e.g. an X-direction and an Y- direction. Hence, in addition to the stabilizing system, this lifting tool also allows positioning of the load connector.

In such an embodiment with a load connector, it is conceivable that the mass is movably supported by the load connector and a bearing is provided between the mass and the load connector, e.g. air bearings, a roller bearing and/ or a bearing comprising slide pads.

In a possible configuration of the inventive lifting tool, the mass, optionally the mass parts, and the load connector are provided in the same horizontal plane such that the mass actuator assembly and the positioning mechanism allow for displacement of the mass with respect to the shank and for positioning of the load connector with respect to the shank in the same horizontal plane in two non-parallel directions, e.g. an X-direction and an Y-direction

According to a second aspect of the invention a spreader lifting tool configured to be suspended from a crane is provided.

Generally spreader lifting tools are known in the art of performing lifting operations wherein a load is lifted using a crane.

The second aspect of the invention aims to provide an improved spreader lifting tool, e.g. in view of stabilization of the tool or the tool combined with the load.

The second aspect of the invention provides for a spreader lifting tool according to claim 7.

In an embodiment, the spreader frame is an elongated spreader frame having a length extending horizontally in X-direction and a width extending horizontally in Y-direction.

In an embodiment, the stabilizing system comprises: a first carriage that is movable mounted on the spreader frame so as to be movable in X-direction a first carriage actuator configured to displacement of the first carriage in said X- direction relative to the spreader frame, a mass support that supports the mass and that is movable mounted on the first carriage so as to be movable in Y-direction relative to the first carriage, a mass support actuator configured for displacement of the mass support relative to the first carriage in the Y-direction. For example, the mass support is a platform that supports the mass, e.g. the mass being embodied as steel plate bodies, e.g. multiple steel plate bodies being placed side-by-side on the platform.

The mass actuator assembly, e.g. formed by first carriage actuator and mass support actuator, can be configured and operated to displace the mass in a horizontal plane relative to the spreader frame to a position wherein the mass then remains generally stationary during a lifting operation, e.g. the mass acting as a counterweight for a load that is suspended from the spreader lifting tool. For example, this allows for bringing the common center of gravity of the load and of the spreader lifting tool in alignment with the cable(s) from which they are suspended from a crane, e.g. from a crane boom.

The mass actuator assembly, e.g. formed by the first carriage actuator and the mass support actuator, can be configured and operated to provide controlled motion of the mass to a position during a lifting operation, e.g. wherein the mass is continuously repositioned during a lifting operation. For example, this controlled motion operation allows for the mass to counteract undue oscillations of the lifting tool or the combination of the lifting tool and the load. Such oscillations may, for example, occur during start and/or stopping of a slewing motion of a crane boom from which the spreader lifting tool (possibly combined with the load) is suspended or in other circumstances, e.g. due to wave action when the crane is mounted on a vessel, e.g. due to wind, etc.

In an embodiment, the load positioning system comprises: a second carriage that is movable mounted on the spreader frame so as to be movable in X-direction, a second carriage actuator configured to displacement of the second carriage in said X-direction relative to the spreader frame, a load connector support that supports the load connector and that is movable mounted on the second carriage so as to be movable in Y-direction relative to the second carriage, a load connector support actuator configured for displacement of the load connector support relative to the second carriage in the Y-direction. The positioning mechanism, e.g. formed by the second carriage actuator and the load connector support actuator, can be configured and operated to provide a controlled motion in a horizontal plane of the load connector during a lifting operation, e.g. wherein the load connector is continuously repositioned during a lifting operation or part thereof, e.g. during pick-up and/or landing of a load, e.g. from a deck of a vessel. For example, this controlled motion operation allows for the positioning mechanism to compensate for (residual) oscillations of the lifting tool or the combination of the lifting tool and the load. Such oscillations may, for example, occur during start and/or stopping of a slewing motion of a crane boom from which the spreader lifting tool (possibly combined with the load) is suspended or in other circumstances, e.g. due to wave action when the crane is mounted on a vessel, e.g. due to wind, etc.

The positioning mechanism, e.g. formed by the second carriage actuator and the load connector support actuator, can be configured and operated to provide a displacement in a horizontal plane of the load connector in view of a lifting operation to a desired position, said desired position relative to the spreader frame being generally maintained during the lifting operation. So a more or less static positioning of the load connector relative to the spreader frame.

It will be appreciated that, in embodiments, the positioning mechanism can provide each of the modes described above.

In an embodiment, the spreader lifting tool is provided with one or more sensors, e.g. motion sensors, e.g. inertia-based motion sensors, and/or inclination sensors, and/or load sensors, that determine motion of, and/or orientation of, and/or forces acting on, the spreader frame and/or the load suspended from the lifting tool. In an embodiment, the spreader lifting tool is provided with a controller that is linked to said one or more sensors, said controller being linked to the one or more carriage actuators, and/or the mass support actuator, and/or the load connector support actuator, for controlling operation thereof.

In an embodiment, the spreader frame comprises two spaced apart main beams extending in X-direction, each main beam having an inner side and an outer side, the inner sides facing one another.

In an embodiment, each main beam is provided with an inner guide rail extending along the inner side and with an outer guide rail extending along the outer side, wherein one of the first and second carriages engages on the outer guide rails and the other one of the first and second carriages engages on the inner guide rails. For example, the first carriage engages on the outer guide rails and the second carriage engages on the inner guide rails.

In an embodiment, the spreader frame has at least three spatially arranged, e.g. four cable attachment devices, to provide a multi-pint, e.g. four-point, suspension of the spreader frame from the crane, e.g. the crane having a crane hook and the spreader frame being suspended via multiple cables, e.g. four, from the crane hook.

In an embodiment, each cable attachment device is independently adjustable in height relative to the spreader frame. This, for example, allows for adjustment of the inclination of the spreader frame, e.g. to keep the frame horizontal while compensating for (small) differences in length of the cables from which the spreader frame is suspended. For example, each cable attachment device comprises a height setting actuator, e.g. a hydraulic cylinder.

In an embodiment, the spreader frame is provided with one or more gyroscopes configured to control rotation of the spreader frame in view of rotation thereof about a vertical axis. The gyroscopes may be operated to prevent such rotation during a lifting operation and/or may be embodied and operated to establish controlled rotation about the vertical axis, e.g. as disclosed in WO2017/059493.

In an embodiment, the spreader frame is provided with a first gyroscope at a first longitudinal end of the elongated frame and with a second gyroscope at a second longitudinal end of the frame.

In an embodiment, the one or more gyroscopes are releasable attached to the spreader frame, allowing for a configuration with and a configuration without gyroscopes.

The invention also relates to a hoisting system comprising a hoisting crane and a (spreader) lifting tool configured to be suspended from a hoisting crane via one or more cables.

Advantageously, the hoisting crane comprises a hoist assembly comprising one or more hoist winches and one or more hoist cables, driven by the one or more hoist winches, the (spreader) lifting tool being suspended from the hoisting crane via the one or more hoist cables.

In embodiments, the lifting tool comprises a shank configured to be connected to a load, wherein the lifting tool comprises a stabilizing system comprising: a mass, movably supported with respect to the shank so as to be movable in a horizontal plane in two non-parallel directions, e.g. an X-direction and an Y- direction; a mass actuator assembly that is configured for displacement of the mass with respect to the shank in said horizontal plane in two non-parallel directions, e.g. an X-direction and an Y-direction.

In embodiments, the spreader lifting tool comprises: a spreader frame having multiple cable attachment devices configured to suspended the spreader frame from a crane via multiple cables, a stabilizing system comprising:

• a mass movably supported by the spreader frame so as to be movable in a horizontal plane in two non-parallel directions, e.g. an X-direction and a Y- direction, relative to the spreader frame,

• a mass actuator assembly that is configured for displacement, e.g. controlled motion, of the mass in said horizontal plane in two non-parallel directions, e.g. an X-direction and a Y-direction, a load positioning system comprising:

• a load connector configured to be connected to a load,

• a positioning mechanism mounting the load connector to the spreader frame, wherein the positioning mechanism is configured for positioning of the load connector in a horizontal plane in two non-parallel directions, e.g. an X-direction and a Y-direction, relative to the spreader frame.

In embodiments, the crane comprises a travelling block member, suspended from the one or more hoist cables, the travelling block member being provided with a tool connector configured to engage on the lifting tool so as to suspend the lifting tool from the tool connector.

In embodiments, the crane further comprises a revolving structure, a boom, pivotally mounted to the revolving structure and a luffing assembly configured for luffing of the boom.

The invention further relates to a hoisting method wherein use is made of a hoisting system comprising a hoisting crane and an inventive (spreader) lifting tool.

An example of such a hoisting method comprises the step of stabilizing the hoisting system by: determining the centre of gravity of the (spreader) lifting tool or the combination of (spreader) lifting tool and load; controlling the mass actuator assembly to position the mass such that it counterweights the (spreader) (spreader) lifting tool or the combination of (spreader) lifting tool and load.

And alternative example of such a hoisting method comprises the step of stabilizing the hoisting system by controlled motion of the mass actuator assembly to dynamically compensate for oscillating loads.

An exemplary hoisting method according to the invention comprises the step of: identifying the intended use and the weight of the load to be lifted; providing a mass that is suitable for the intended use; supporting the mass with respect to the shank.

The invention is further elucidated in relation to the drawings, in which:

Figure 1A shows a hoisting system according to the invention on a vessel,

Figure 1B shows part of an alternative hoisting system according to the invention,

Figure 2A is a detailed view of the travelling block member of the system without any lifting tool suspended therefrom,

Figure 2B is a detailed view of the travelling block member of the system with a suspended lifting tool,

Figure 2C is a detailed side view of the travelling block member of the system with part of a suspended lifting tool,

Figure 2D is a detailed view of the travelling block member of the system with another suspended lifting tool,

Figures 3A and 3B show a perspective view of an exemplary lifting tool according to the invention,

Figure 4 shows a perspective view of an alternative lifting tool according to the invention, Figure 5 shows a perspective view of yet an alternative lifting tool according to the invention; Fig. 6 shows an example of a spreader lifting tool according to the invention,

Fig. 7 shows the spreader lifting tool of figure 6 from below,

Fig. 8 shows the spreader lifting tool of figure 6 from a different angle,

Fig. 9 shows the spreader lifting tool of figure 6 from above,

Fig. 10 shows the spreader lifting tool of figure 6 with another position of the mass and of the load connector, Fig. 11 shows the spreader lifting tool of figure 6 in a configuration without the gyroscopes.

Figure 1A shows a hoisting system comprising a crane 1 and a lifting tool 99, being used on a vessel. It shows that crane 1 of said system comprises a revolving structure 2, a boom 3, pivotally mounted to the revolving structure 2, a luffing assembly 4 configured for luffing of the boom 3. A travelling block member 70 is provided, suspended from hoist cables 62, configured to engage on the lifting tool 99 to suspend the tool 99 underneath the travelling block member 70. A hoist assembly is provided, comprising one or more hoist winches 61 , one or more hoist cables 62 driven by the one or more hoist winches 61 , extending from the one or more hoist winches 61 to the travelling block member 70 such as to support the travelling block member 70.

Figure 1B shows an alternative hoisting system 500 according to the invention, with a lifting tool 513 according to the invention. It is also conceivable that a spreader lifting tool according to the invention is suspended from hook 513. Hoisting system 500 is an embodiment of a wave-induced motion compensating crane in perspective view, as described in detail in WO2019/156556 of the same applicant. Combining such a hoisting system with a lifting tool according to the invention will result in a further accuracy.

The crane 500 comprises a revolving superstructure 502. It further comprises a boom 503 pivotally mounted to the revolving superstructure 502, e.g. to a foot portion 521 thereof.

The boom comprises a main boom 530, comprising firstly a main boom member 531, the lower end 531a of which is pivotally mounted about a first pivot axis 511 to the superstructure 502. It secondly comprises a main boom strut 532, an end 532a of which is mounted to an upper end of the main boom member 531 and extending essentially perpendicular to the main boom member 531. It thirdly comprises a boom stay 533 extending between the main boom strut 532 and a lower portion 531 b of the main boom member 531.

The boom further comprises a jib 534, pivotally mounted about a second pivot axis 512 to the main boom 530. The jib comprises firstly a jib member 535, an inner end 535a of which is pivotally mounted to the upper end of the main boom member. The opposite end is a free end 535b It secondly comprises a jib strut 536 an end 536a of which is mounted to the inner end 535a of the jib member 535 and extending essentially perpendicular to the jib member 535. It thirdly comprises a jib stay 537 extending between the jib strut 535 and the jib member 536. The boom further comprises a variable length stay mechanism 538 provided between the main boom strut 532 and the jib strut 536.

The crane further comprises a luffing assembly 504 comprising a luffing winch, mounted to the superstructure 502, and a luffing cable 542, extending between the luffing winch and the main boom 530.

The crane further comprises an object suspension device, here a lifting tool 513 according to the invention. It is also conceivable that a spreader lifting tool according to the invention is suspended from hook 513.

The crane 500 further comprises a jib hoist assembly, which firstly comprises a jib hoist winch and secondly a jib departure sheave 552, e.g. mounted on the free end of the jib member 535. It thirdly comprises a jib hoist cable 553, extending from the jib hoist winch along the main boom 530 and the jib 534 via the jib departure sheave 552 to the lifting tool 513. It fourthly comprises a jib hoist heave compensation mechanism 566. Therein, the jib hoist heave compensation mechanism 566 comprises heave compensating cylinders operating on the unwound section of the jib hoist cable 553. In alternative, not shown embodiments, the one or two main boom hoist winches are embodied as AHC winches.

The crane further comprises a main boom hoist assembly, comprising, firstly one or two main boom hoist winches, secondly two main boom departure sheaves mounted to lateral ends of a transverse beam 564, which transverse beam 564 is at a center portion thereof mounted to the upper end 531c of the main boom member 531. It thirdly comprises two main boom hoist cables 563, configured to extend from either of the one or two main boom hoist winches along the main boom members 31 via the main boom departure sheaves to the lifting tool 513. It fourthly comprises a main boom hoist heave compensation mechanism, wherein the main boom hoist heave compensation mechanism comprises heave compensating cylinders operating on the unwound section of the main boom hoist cable 563.

The two main boom departure sheaves of the crane are mounted to an upper end 531c of the main boom member 531 at opposite lateral sides thereof. The lifting tool 513 is supported by the jib hoist cable 553 and the two main boom hoist cables 563, in particular terminal ends 553a and 563a respectively thereof. Preferably, cable connectors of these cables 553, 563 are herein provided at equal mutual angles around a central vertical axis 513b of the lifting tool 513. The main boom hoist assembly is together with the jib hoist assembly adapted to hoist and/or lower the lifting tool 513, between a lower position and a position at a height up to substantially the height of the main boom departure sheaves while the jib hoist cables 553 and the main boom hoist cables 563 together define a reverse pyramid diverging upwards from the lifting tool 513.

As shown in figures 2A-D, travelling block member 70 as shown in fig. 1A suspends from the one or more winch driven hoist cables 62 of the hoist assembly.

The travelling block member 70 is adapted to support and absorb the load of the suspended lifting tool 99. The travelling block member 70 is furthermore adapted to support the lifting tool pivotally around a horizontal axis.

The travelling block member 70 comprises two traverse frame elements 73 in the form of two vertically parallel traverse frame plate elements 73, which - when seen in a top view - horizontally enclose cable sheaves 74 of the travelling block member 70, and a tool connector 80. The traverse frame plate elements 73 comprise two recesses 72 configured to support a tool clamp housing 81 , such as to retain the tool connector 80 substantially within the outer contour of the travelling block member 70. The recesses are provided horizontally opposite one another, inwardly facing each other.

The recesses 72 are configured to pivotally support the tool clamp housing 81 such as to retain the tool connector 80 pivotally around a substantially horizontal connector pivot axis 75. Thereby a pivoting of the tool connector 80 around the connector pivot axis 75 is enabled, while the travelling block member 70 absorbs the load of the suspended lifting tool 99 and any load supported by the lifting tool 99 through said bearings and recesses 72.

The recesses 72 support the tool connector 80 below the cable sheaves 74, and - when seen in a top view - horizontally in a space enclosed by the traverse frame plate elements 73 that allows pivoting of the tool connector 80 around the connector pivot axis 71.

In figure 2A, no tool is suspended from the travelling block member 70.

Figure 2B shows how the lifting tool 99 from figure 1 is being suspended underneath the travelling block member 70 by means of the tool connector 80. As shown in detail in fig. 2C, the tool connector 80 comprises a clamp housing 81 supported by the travelling block member, a female, open-centered body 82 defining a passage 83 having an entry section 83a with a central vertical axis 8a to allow passage of the shank 91 of the lifting tool 99, a thrust bearing 84 mounted to the clamp housing 81 and supporting the body 82, allowing swivelling of the body 82, and multiple mobile tool retainers 85. Each mobile tool retainer 85 is supported by the body 82 and distributed around the passage, so as to each provide an operative and a non-operative position of the mobile tool retainer. Part of lifting tool 99 is suspended, having a shank 91 with a shoulder 92.

Figure 2D shows an alternative lifting tool 99’ being suspended underneath the travelling block member 70. Again, also this lifting tool 99 has a shank with a shoulder.

Figures 3A and 3B, 4 and 5 show alternative lifting tools 10, 20, 30 according to the invention. Each of the lifting tools comprises a shank 11. In the shown embodiments, the shank 11 is provided with a shoulder 11a, adapted to be mated with a tool connector 80, e.g. provided in a travelling block 70 of a hoisting crane 1 , e.g. as described in relation to figs. 1-2C.

The shank 11 of the lifting tools is configured to be connected to a load. Advantageously, a load connector is provided, configured to be connected to a load In the embodiment of fig. 4 the load connector 13’ is embodied as a hook. In the embodiment of figs. 3A, 3B and 5, the load connector 13 is embodied as a donut-shaped frame provided around the shank 11, which frame comprises downward-suspending eyelets 13e for connection to a load.

According to the first aspect of the invention, each of the lifting tools 10, 20, 30 comprises a stabilizing system 15, having the same configuration for all three embodied lifting tools. The stabilizing system 15 comprises a mass 16, movably supported with respect to the shank 11 so as to be movable in a horizontal plane in two non-parallel directions, e.g. an X-direction and an Y-direction.

The mass 16 is here embodied as a disc with a central recess through which the shank 11 extends. In other words, the mass 16 extends as a donut around the shank 11.

In the embodiment of figs. 3A, 3B and 4, the mass 16 is movably supported on a carrier 18 that is mounted on the shank 11. The carrier comprises a bottom frame 18c provided below the mass 16, and an upper frame 18d extending above the mass 16. Bearings 18a, 18b are provided between the mass 16 and the frame of the carrier, here bearings comprising slide pads. The stabilizing system 15 further comprises a mass actuator assembly 17 that is configured for displacement of the mass with respect to the shank 11 in said horizontal plane in two nonparallel directions, e.g. an X-direction and an Y-direction. Here, the mass actuator assembly 17 comprises cylinders 17a-17c, acting on structures 17k engaging on an outer circumference of the mass 16.

In the embodiment of figs. 3A and 3B and 5, also a load positioning system 14 is provided comprising the load connector 13 and a positioning mechanism 19 mounting the load connector 13 to the shank 11 , wherein the positioning mechanism is configured for positioning of the load connector with respect to the shank in a horizontal plane in two nonparallel directions, e.g. an X-direction and an Y-direction. The positioning mechanism 19 comprises cylinders 19a-19d, acting on the load connector 13.

As indicted above, in the embodiment of figs. 3A, 3B and 5, the load connector 13 is embodied as a donut-shaped frame provided around the shank 11. Load connector 13 is movably supported on a support carrier 12 that is mounted on the shank 11 . The support carrier 12 comprises a bottom frame 12c provided below the load connector f13, and an upper frame 12d extending above the load connector 13. Bearings 12a, 12b are provided between the load connector 13 and the frame of the support carrier 12, here bearings comprising slide pads.

In the embodiment of fig. 5, the mass 15 of the stabilizing system 15 is movably supported on the load connector 13, and thus not on a carrier. In the shown embodiment, distance holders 18k are provided between the load connector 13 and the mass 16, and bearings 18m are provided between the distance holders 18k and the load connector 13. The embodiment of fig. 5 thus comprises both a stabilizing system 15 and a load positioning system 14, in a more compact configuration than that of figs. 3A and 3B.

With reference to the figures 6 - 11 now an example of a spreader lifting tool 100 according to the invention will be discussed.

As is common in the art, the spreader lifting tool 100 is configured to be suspended from a crane, e.g. a crane on-board of a vessel.

In general terms, the spreader lifting tool 100 comprises: a spreader frame 110 having multiple cable attachment devices 130 - 133 configured to suspended the spreader frame 110 from a crane via multiple cables, a stabilizing system 150 comprising:

• a mass 160 movably supported by the spreader frame 110 so as to be movable in a horizontal plane in two non-parallel directions, here an X- direction and a Y-direction that are orthogonal to one another, relative to the spreader frame 110,

• a mass actuator assembly that is configured for displacement, e.g. controlled motion, of the mass 160 in the horizontal plane in two nonparallel directions, here an X-direction and a Y-direction, a load positioning system 200 comprising:

• a load connector 210 configured to be connected to a load,

• a positioning mechanism mounting the load connector to the spreader frame 110, wherein the positioning mechanism is configured for positioning of the load connector in a horizontal plane in two non-parallel directions, here an X-direction and a Y-direction that are orthogonal to one another, relative to the spreader frame 110.

The spreader frame 110 is an elongated spreader frame having a length extending horizontally in X-direction and a width extending horizontally in Y-direction.

The spreader frame 110 comprises two spaced apart horizontal main beams 111, 112, each extending in X-direction. At their longitudinal ends, the main beams 111 , 112 are interconnected by end structures 113, 114 of the frame 110.

It is illustrated that the spreader frame has four cable attachment devices 130 - 133 to provide a four-point suspension of the spreader frame 110 from four cable, e.g. the four cables being suspended from a crane hook.

The end structures 113, 114 each are provided with a pair of the cable attachment devices 130, 131 , and 132, 133. In each pair, these devices, e.g. each including a shackle for connection of a cable, are spaced apart from one another in Y-direction.

It is illustrated that each of the attachment devices 130 - 133 is mounted at the top of an upright part 113a, b, 114a, b of the frame 110, which protrudes upward relative to the plane of the main beams 111, 112. It is illustrated that each cable attachment device 130 - 133 is independently adjustable in height relative to the spreader frame 110. This allows for adjustment of the orientation, in particular inclination, of the spreader frame 110. Adjustment of the cable attachment devices 130 - 133 allows for adjustment of the inclination of the frame 110, e.g. to keep the spreader frame 110 horizontal, e.g. compensating for (small) differences in length of the cables from which the frame 110 is suspended. For example, each height-adjustable cable attachment device 130 - 133 comprises a height setting actuator 134 - 137, e.g. a hydraulic cylinder.

It is illustrated here, that each height adjustable cable attachment device 130 -133 comprises a pivotal lever that is pivoted about a horizontal pivot axis by a respective actuator 134- 137, wherein the cable attachment member to which the cable is actually attached is offset from the pivot axis so as to move up and down.

It is illustrated that each main beam 111 , 112 of the frame 110 has an inner side and an outer side. The inner sides are facing one another.

The stabilizing system comprises: a first carriage 170 that is movable mounted on the spreader frame 110 so as to be movable in X-direction, a first carriage actuator 175 configured to displacement of the first carriage in said X-direction relative to the spreader frame 110, a mass support 180 that supports the mass 160 and that is movable mounted on the first carriage 170 so as to be movable in Y-direction relative to the first carriage 170, a mass support actuator 185 configured for displacement of the mass support relative to the first carriage in the Y-direction.

It is illustrated that each main beam 111 , 112 is provided with an inner guide rail 111a, 112a extending along the inner side and with an outer guide rail 111b, 112b extending along the outer side of the beam.

It is illustrated that the first carriage 170 engages on the outer guide rails 111b, 112b, here via roller sets with multiple rollers.

It is illustrated that the mass support 180 is embodied as a platform that supports the mass

160. It is illustrated that the mass is embodied as a solid mass, so not a liquid. It is illustrated, that the mass 160 is embodied as steel plate bodies. It is illustrated that multiple steel plate bodies 161 are placed side-by-side on the platform 180.

As preferred, the mass 160 is adjustable, by placing more or less solid mass bodies, e.g. plates 161 , on the mass support 180.

As preferred, steel plate bodies 161 are placed side by side, e.g. in a row as shown, on the mass support, e.g. in one layer. This keeps the mass close to the frame 110 in vertical direction. The latter is favourable, for example, in view of dynamic motion of the mass 160 relative to the frame 110 for stabilizing purposes of the spreader tool 100 and any load suspended from the tool 100.

It is illustrated that the actuators 175 and/or 185 are/is embodied as a rack-and-pinion drive, e.g. with a hydraulic motor driving the pinion meshing with the rack. Other designs, e.g. comprising a hydraulic cylinder, a screw spindle, etc. are also envisaged.

The load positioning system comprises: a second carriage 220 that is movable mounted on the spreader frame 110 so as to be movable in X-direction, a second carriage actuator 225 configured for displacement of the second carriage 220 in the X-direction relative to the spreader frame 110, a load connector support 230 that supports the load connector 210 and that is movable mounted on the second carriage 220 so as to be movable in Y-direction relative to the second carriage 220, a load connector support actuator 240 configured for displacement of the load connector support relative to the second carriage 220 in the Y-direction.

It is illustrated that the second carriage 220 engages on the inner guide rails 111a, 112a of the main beams 111 , 112 of the spreader frame 110, here via roller sets with multiple rollers.

It is illustrated that the first carriage 170 moves along the top side of the main beams 111, 112 and the second carriage 220 moves along the bottom side of the main beams 111, 112, both in X-direction. The first carriage 170 engages on the outer guide rails 111b, 112b and the second carriage 220 engages on the inner guide rails 111a, 112a, in a configuration that allows for passing of each other. It is illustrated that the load connector support actuator 240 is embodied as a rack-and-pinion drive, e.g. with a hydraulic motor driving the pinion meshing with the rack. Other designs, e.g. comprising a hydraulic cylinder, a screw spindle, etc. are also envisaged.

It is illustrated that the load connector support 230 comprises a horizontal support structure with two beams 231, 232 extending in Y-direction and interconnected at their ends by a traverse beams 233, 234, each traverse beam having one or more, here a pair of, load connectors 210 from which a load can be suspended, here at four points.

It is illustrated that the spreader tool 100 is provided with one or more hydraulic power units 290, e.g. powering the actuators 175, 185, 240, as well as actuators 134-137.

Figure 7 shows the provision of one or more accumulators 295 associated with the one or more hydraulic power units 290.

It is illustrated in figures 6-10 that the spreader frame 110 is provided with one or more gyroscopes configured to control rotation of the spreader frame in view of rotation thereof about a vertical axis. In more detail, it is shown that the spreader frame is provided with a first gyroscope 270 at a first longitudinal end of the elongated frame and with a second gyroscope 271 at a second longitudinal end of the frame 110.

The figures 11 illustrates that the gyroscopes 270, 271 are detachable from the respective end of the frame 110, e.g. allowing for use of the spreader tool 100 without the presence of gyroscopes. The gyroscopes 270, 271 have lifting eyes allowing for handling by a crane when placing and detaching the gyroscopes.

For example, as shown the gyroscopes 270, 271 are embodied and operable as described in WO2017/059493.

Claims

1. Lifting tool (10) configured to be suspended from a hoisting crane via one or more cables, the lifting tool comprising a shank (11) configured to be connected to a load, characterized in that the lifting tool comprises a stabilizing system (15) comprising: a mass (16), movably supported with respect to the shank so as to be movable in a horizontal plane in two non-parallel directions, e.g. an X-direction and an Y- direction; a mass actuator assembly (17) that is configured for displacement of the mass with respect to the shank in said horizontal plane in two non-parallel directions, e.g. an X-direction and an Y-direction.

2. Lifting tool according to claim 1, wherein the mass actuator assembly comprises one or more cylinders (17a-17c), preferably double-acting cylinders.

3. Lifting tool according to any of the preceding claims, wherein the lifting tool is an exchangeable tool and the shank (11) is provided with a shoulder (11a), adapted to be mated with a tool connector (80), e.g. provided in a travelling block (70) of a hoisting crane (1).

4. Lifting tool according to any of the preceding claims, wherein the mass is movably supported on a carrier (18) that is mounted on the shank and a bearing (18b, 18c) is provided between the mass and the carrier, e.g. air bearings, a roller bearing and/ or a bearing comprising slide pads.

5. Lifting tool according to any of the preceding claims, further comprising a load positioning system (14) comprising: a load connector (13) configured to be connected to a load; a positioning mechanism (19) mounting the load connector to the shank, wherein the positioning mechanism is configured for positioning of the load connector with respect to the shank in a horizontal plane in two non-parallel directions, e.g. an X- direction and an Y-direction.

6. Lifting tool according to claim 6, wherein the mass is movably supported by the load connector and a bearing is provided between the mass and the load connector, e.g. air bearings, a roller bearing and/ or a bearing comprising slide pads.

7. A spreader lifting tool configured to be suspended from a crane, the spreader lifting tool comprising: a spreader frame having multiple cable attachment devices configured to suspended the spreader frame from a crane via multiple cables, a stabilizing system comprising:

• a load connector configured to be connected to a load,

8. Spreader lifting tool according to claim 7, wherein the spreader frame is an elongated spreader frame having a length extending horizontally in X-direction and a width extending horizontally in Y-direction.

9. Spreader lifting tool according to any one or more of the preceding claims 7-8, wherein the stabilizing system comprises: a first carriage that is movable mounted on the spreader frame so as to be movable in X-direction, a first carriage actuator configured to displacement of the first carriage in said X- direction relative to the spreader frame, a mass support that supports the mass and that is movable mounted on the first carriage so as to be movable in Y-direction relative to the first carriage, a mass support actuator configured for displacement of the mass support relative to the first carriage in the Y-direction.

10. Spreader lifting tool according to claim 9, wherein the mass support is a platform that supports the mass, e.g. the mass being embodied as steel plate bodies, e.g. multiple steel plate bodies being placed side-by-side on the platform.

11. Spreader lifting tool according to any one or more of the preceding claims 7-10, wherein the load positioning system comprises: a second carriage that is movable mounted on the spreader frame so as to be movable in X-direction a second carriage actuator configured to displacement of the second carriage in said X-direction relative to the spreader frame, a load connector support that supports the load connector and that is movable mounted on the second carriage so as to be movable in Y-direction relative to the second carriage, a load connector support actuator configured for displacement of the load connector support relative to the second carriage in the Y-direction.

12. Spreader lifting tool according to any one or more of the preceding claims 7-11, wherein the spreader frame comprises two spaced apart main beams extending in X- direction, each main beam having an inner side and an outer side, the inner sides facing one another, wherein each main beam is provided with an inner guide rail extending along the inner side and with an outer guide rail extending along the outer side, and wherein one of the first and second carriages engages on the outer guide rails and the other one of the first and second carriages engages on the inner guide rails, e.g. wherein the first carriage engages on the outer guide rails and the second carriage engages on the inner guide rails.

13. Spreader lifting tool according to any one or more of the preceding claims 7-12, wherein the spreader frame has four cable attachment devices to provide a four-point suspension of the spreader frame.

14. Spreader lifting tool according to any one or more of the preceding claims 7-13, wherein each cable attachment device is independently adjustable in height relative to the frame, each comprising a height setting actuator.

15. Spreader lifting tool according to any one or more of the preceding claims 7-14, wherein the spreader frame is provided with one or more gyroscopes configured to control rotation of the spreader frame in view of rotation thereof about a vertical axis, e.g. wherein the spreader frame is provided with a first gyroscope at a first longitudinal end of the elongated frame and with a second gyroscope at a second longitudinal end of the frame.

16. Hoisting system comprising a hoisting crane (1) and a (spreader) lifting tool (100) according to any of the preceding claims 1-15, e.g. wherein the hoisting crane (1) comprises a hoist assembly with one or more hoist winches (61) and one or more hoist cables (62), driven by the one or more hoist winches (61), the (spreader) lifting tool being suspended from the hoisting crane via the one or more hoist cables.

17. Hoisting system according to claim 16, wherein the crane (1) comprises a travelling block member (70), suspended from the one or more hoist cables (62), the travelling block member being provided with a tool connector (80) configured to engage on the lifting tool (10) so as to suspend the lifting tool (10) from the tool connector (80).

18. Hoisting system according to any of the preceding claims 16-17, wherein the crane comprises a revolving structure (2), a boom (3), pivotally mounted to the revolving structure (2), a luffing assembly configured for luffing of the boom (3).

19. Hoisting method wherein use is made of a hoisting system according to any of claims 16-18.

20. Hoisting method according to claim 19, comprising the step of stabilizing the hoisting system by: determining the centre of gravity of the (spreader) lifting tool or the combination of (spreader) lifting tool and load; controlling the mass actuator assembly to position the mass such that it counterweights the (spreader) lifting tool or the combination of (spreader) lifting tool and load.

21. Hoisting method according to claim 20, comprising the step of stabilizing the hoisting system by controlled motion of the mass actuator assembly to dynamically compensate for oscillating loads.

22. Hoisting method according to any of claims 19-21, comprising the step of: identifying the intended use and the weight of the load to be lifted; providing a mass that is suitable for the intended use; supporting the mass with respect to the shank.