NL2027021B1 - Motion compensation and transportation unit, motion compensation and transportation system and method therefor - Google Patents

Motion compensation and transportation unit, motion compensation and transportation system and method therefor Download PDF

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Publication number
NL2027021B1
NL2027021B1 NL2027021A NL2027021A NL2027021B1 NL 2027021 B1 NL2027021 B1 NL 2027021B1 NL 2027021 A NL2027021 A NL 2027021A NL 2027021 A NL2027021 A NL 2027021A NL 2027021 B1 NL2027021 B1 NL 2027021B1
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NL
Netherlands
Prior art keywords
motion compensation
transport
transport unit
cylinders
compensation
Prior art date
Application number
NL2027021A
Other languages
Dutch (nl)
Inventor
Hessels Hendrik
Original Assignee
U Sea Beheer B V
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Publication date
Application filed by U Sea Beheer B V filed Critical U Sea Beheer B V
Priority to NL2027021A priority Critical patent/NL2027021B1/en
Application granted granted Critical
Publication of NL2027021B1 publication Critical patent/NL2027021B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/24—Means for preventing unwanted cargo movement, e.g. dunnage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/24—Means for preventing unwanted cargo movement, e.g. dunnage
    • B63B2025/245—Means for preventing unwanted cargo movement, e.g. dunnage of wheeled cargo, e.g. vehicle retainers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

The present invention relates to a motion compensation and transportation unit for compensating a load on a vessel. The present invention further relates tot a motion compensation and transportation system comprising such a motion compensation and transportation unit and a method for compensating and transporting a load on a vessel. The motion compensation and transportation unit comprises: - at least two transport units that are configured to be moveable over a transport track; - a drive for driving the at least two transport units; and - a compensation device, comprising: - one or more engagement members provided on each transport unit for engaging a support frame for supporting the load; - a controller that is configured for determining the motion compensation; and - a plurality of cylinders operatively connected to the one or more engagement members for adjusting the engagement member in relation to the transport unit.

Description

MOTION COMPENSATION AND TRANSPORTATION UNIT, MOTION COMPENSATION
AND TRANSPORTATION SYSTEM AND METHOD THEREFOR The present invention relates to a motion compensation and transportation unit for transporting and compensating a load on a vessel. The present invention further relates tot a motion compensation and transportation system comprising such a motion compensation and transportation unit and a method for compensating and transporting a load on a vessel.
When a vessel transports load over sea, the vessel is subject to weather conditions such as wind and/or waves. These weather conditions cause the vessel to move relative to a reference IO body, i.e. the earth. Due to these motions, the handling of a load (e.g. pick-up of the load) in a controlled and safe manner is limited. These movements can be dangerous for the load that is transported on the vessel, as the load can move and/or tilt, causing damage to the load and/or vessel. In extreme cases this can even result in loss of the load. To increase the window of possible operation, the motions of the load with respect to the reference body due to the vessel motions need to be reduced. To compensate the load, it is placed on a compensation system.
In practice motion compensation systems are known that are configured to compensate the load on a vessel. The motion compensation systems known in practice can comprise a Stewart platform on a specific location on the vessel, wherein six cylinders are provided that are operatively connected to a platform. The cylinders can be independently driven to compensate movements of the ship, such that the platform remains relatively stable in relation to a reference body.
The disadvantage of the known compensation system is that the six cylinders are positioned on a fixed location on the vessel.
It is an object of the present invention to obviate or at least reduce the abovementioned problem. It is in particular an object of the present invention to provide a device that can effectively compensate movements of the vessel in a simple manner.
The object of the present invention is achieved by a motion compensation and transportation unit for transporting and compensating a load on a vessel, wherein the motion compensation and transportation unit comprises: - at least two transport units that are configured to be moveable over a transport track; - a drive for driving the at least two transport units; and - acompensation device, comprising: - one or more engagement members provided on each transport unit for engaging a support frame for supporting the load; - a controller that is configured to determine the motion compensation; and
- a plurality of cylinders operatively connected to the one or more engagement members for adjusting the engagement member in relation to the transport unit.
The motion compensation and transportation unit comprises at least two transport units that enable transportation of a load. In the embodiment of two transport units they are preferably positioned oppositely of each other. By oppositely providing two transport units on the transport track, the support frame can easily be provided between and/or on the transport units. An advantage of two oppositely provided transport units is that the motion compensation and transportation unit is extra stable. The compensation device allows for compensation of undesired IO motions of a ship, for example. This prevents or at least reduces undesired motions of the load.
An advantage of the motion compensation and transportation unit is that it can be moved over a transport track via its transport units, while at the same time the engagement member, that is directly or indirectly connected to the transport units, can be compensated for movements of the vessel via the plurality of cylinders. In this way an efficient motion compensation and {5 transportation unit is obtained providing compensation and transportation.
Furthermore, the load that is provided on the support frame can easily be transported from one part of the vessel to another part of the vessel without the need of other transport means such as a crane, while compensation of undesired motions is possible. This enables positioning of the load at any location with reduced movements due to vessel motions and/or in reach of lifting equipment such as a crane, for example. Optionally, the motion compensation and transportation unit shares the support frame with the load. This provides an effective system for the transport of loads. Alternatively, the motion compensation and transportation unit comprises an own support frame configured for carrying loads.
For example, with the motion compensation and transportation unit of the present invention it is possible to pick-up a support frame whereon a load is provided. The support frame and load can be transported via the transport track to a desired location, where the support frame can for example be rested on other support elements. The motion compensation and transportation unit is thereafter ready to pick-up and transport another load that is provided on another support frame.
An advantage of the plurality of cylinders that are operatively coupled to the engagement members, preferably between the transport units and the engagement members, is that the cylinders can, due to the stroke thereof, efficiently compensate movements of the vessel. Due to the acting of the cylinders the movement of the support frame, whereon a load can be provided, can be compensated in relation to the transport units, which follow the movement of the vessel. For example, when the vessel and thus the transport units make a pitch-movement due to waves acting on the vessel, the cylinders can act such that a counter-pitch-movement is obtained for the engagement members and thus the support frame. This will achieve that the engagement members and the support frame will be substantially stable in relation to a reference body such as the earth.
The cylinders can be electric, hydraulic and/or pneumatic cylinders, depending on the desired characteristics of the load to be supported.
Due to the controller the plurality of cylinders can be optimally controlled for compensating movements of the vessel. The controller can optionally be connected to a vessel control system already provided on the vessel. The advantage hereof is that disturbances in the vessel itself can directly be adjusted for with the motion compensation and transportation unit. In a presently preferred embodiment the controller is capable of providing the cylinders separately and/or in (sub)groups with control instructions.
In an embodiment according to the invention the plurahty of cylinders are individually drivable by the controller such that the engagement member can be adjusted in relation to the transport unit for at least pitch and roll movements of the vessel.
Due to the cylinders being driven individually, the cylinders can effectively compensate {5 the rotational movements around an X-axis, stretching out perpendicular to a transport direction of the vessel in a horizontal plane, and around a Y-axis, stretching out parallel to the transport direction of the vessel. In this way the motion exerting the most amount of force on a load are compensated, thereby reducing the chance of damage to the load during transportation.
In an embodiment according to the invention the plurality of cylinders comprises four cylinders.
An advantage of four cylinders is that maximal flexibility for compensation is achieved. Preferably the four cylinders are positioned on every end of the engagement member, and thus on every comer of the support frame if engaged on the engagement member. In this way every end of the engagement member can be compensated in a vertical direction through the cylinders. Using the combinations of different cylinders the plane of the support frame can be tilt in any direction. In particular, pitch, roll and heave motions can effectively be compensated.
In an alternative embodiment the motion compensation and transportation unit comprises three cylinders, positioned at three corners of the support frame, wherein at the other corner the support frame is hingedly connected to the transport unit, In an embodiment according to the invention the motion compensation and transportation unit further comprises at least one sensor for detecting disturbances of the vessel, wherein the sensors are operatively connected to the controller.
The sensors can be provided on the vessel and/or the transport units. Based on the signals that are sent from the sensors, the controller can drive the plurality of cylinders individually, such that the support frame is substantially stable in relation to the reference body.
In an embodiment according to the invention the motion compensation and transportation unit further comprises a support frame that is connected to the engagement members.
Due to the support frame being connected to the engagement members a stable motion compensation and transportation unit is obtained. In particular, this embodiment is suitable for compensating the load for an extended amount of time, in contrast to only picking up and transporting the load.
In a further embodiment according to the invention the motion compensation and transportation unit comprises multiple compensation devices stacked upon each other.
By stacking multiple compensation devices upon each other, the stroke of compensation is significantly increased. Every compensation device increases the possible amount of compensation twofold. The advantage hereof that even in extreme weather circumstances, for example in a storm with high waves, the compensation is still be sufficient to keep the load stable. Preferably, the cylinders of the multiple compensation devices are controlled with the same controller.
In an embodiment according to the invention the compensation device further comprises a connection frame for connecting the transport units, and wherein the plurality of cylinders are provided between the connecting frame and the supporting frame.
The connecting frame is the frame that connects the transport units to each other. A plurality of cylinders can then be attached with one end to the connecting frame, while the other end of the plurality of cylinders is connected to the support frame. Thus, the plurality of cylinders is provided between the connecting frame and the supporting frame.
An advantage of the connecting frame is that the transport units are connected via a frame that is not subject to large forces such as supporting the load, therefore being less susceptible to wear. This increases the durability of the construction of the motion compensation and transportation unit.
In an embodiment according to the invention the transport unit comprises a number of wheels and is movable over the transport track with the wheels.
An advantage of having wheels is that the motion compensation and transportation unit is easily movable over the transport track, with a small amount of friction. The wheels are preferably substantially in the middle of the transport unit.
In an embodiment according to the invention the motion compensation and transportation unit further comprises a hydraulic power unit for powering the plurality of cylinders.
An advantage of the hydraulic power unit is that the plurality of cylinders can efficiently be powered. In this way the load can be effectively compensated for vessel motions.
In an embodiment according to the invention the motion compensation and transportation unit further comprises a power pack for powering the transport units and/or plurality of cylinders.
The power pack is preferably provided connected to the transport units. An advantage of the power pack is that the transport units are provided with energy without being dependent on an external energy source. This provides an independent motion compensation and transportation unit. Another advantage is that the motion compensation and transportation unit can compensate for 5 movements even if there is no other power source available, for example when the motor and/or generator on the vessel are turned off. Preferably the power pack is directly coupled to the drive of the transport units.In an embodiment according to the invention the motion compensation and transportation unit further comprises a crane attached to the engagement members or the support frame.
An advantage of the crane being attached to the engagement members or the support frame is that the crane is always stable with respect to the reference body, thereby making handling of load from other vessels or platforms easier, as the motion of the crane placed on the moving vessel is compensated by the compensation unit, especially for pitch and roll motions of the vessel. Another advantage of the crane is that compensation in vertical direction can (optionally) be done by the crane itself. This can for example be achieved by the hoist tackle provided on the crane. The crane is preferably rotatable over a vertical axis, and is preferably provided with means for lifting a load in a vertical direction.
The invention further relates to a motion compensation and transportation system, comprising: - a transport track comprising two transport rails that are parallel tot each other; and - a motion compensation and transportation unit according to any one of the foregoing embodiments of the invention that is provided on the transport track. The motion compensation and transportation system provides similar advantages and effects as described for the motion compensation and transportation unit.
In particular, it is an advantage of the motion compensation and transportation system that in addition to the compensation that is achieved by the plurality of cylinders, the load can also be compensated in a lateral direction, namely in the direction in which the transport rails extend. Another advantage of the transport rails is that the load can, while being compensated by the compensation device, be transported over the vessel whereon the transport rails are provided. This ensures that during transportation any chance of damage to the load during transport is reduced.
In an embodiment according to the invention the motion compensation and transportation system comprises a plurality of transport tracks, optionally crossing each other, preferably in a perpendicular way. An advantage of a plurality of transport tracks is that loads can be transported and compensated on a larger area of the dock.
In an embodiment according to the invention the distance between the transport rails is adjustable.
Preferably, the distance between the transport rails is adjustable in a horizontal plane. Preferably, this distance is measured substantially perpendicular to the direction in which the transport rails extend and thus substantially perpendicular to the transport direction.
Due to the distance of the rails being adjustable, a modular compensation system is obtained. The advantage of the modular compensation system is that the distance between the rails can be adjusted to for example the width of the ship. Additionally or alternatively, the distance between the rails can also be adjusted to the Joad that is to be compensated. In this way, a versatile 1) compensation system is obtained that can be used in different applications.
Preferably, this adjustment of the distance is used together with the vertical adjustments of the aforementioned plurality of cylinders.
In an embodiment according to the invention the motion compensation and transportation system comprises a plurality of compensation units provided on the transport track, wherein the motion compensation and transportation units are configured to work separately or cooperatively.
By providing multiple compensation units on the transport track, multiple loads can be transported and compensated with the same motion compensation and transportation system. This increases the capacity of the motion compensation and transportation system according to the invention.
The motion compensation and transportation units can work separately. This is advantageous when multiple loads need to be compensated with each load can be fiton a respective support frame. In this way an efficient compensation system is obtained.
Alternatively, the motion compensation and transportation units can work cooperatively. This is advantageous when the load is too big to fit on one support frame. The load can then be supported by multiple support frames from separate motion compensation and transportation units, whereby each of the motion compensation devices of the separate motion compensation and transportation units work cooperatively to compensate for movements of the vessel.
In an embodiment according to the invention the motion compensation and transportation system further comprises a connector that is configured for connecting the motion compensation and transportation system to another motion compensation and transportation system.
The connector is configured to connect transport tracks from different motion compensation and transportation systems with each other, such that a motion transportation unit from one motion compensation and transportation system can move to the transport track of another motion compensation and transportation system. When a transport track is provided for example on the quayside, this transport track can be coupled to the transport track on the vessel. An advantage hereof is that loads can be easily transported from the quayside to the vessel, or vice versa. Another advantage is that during this transport of the quayside to the vessel, or vice versa, the load can also be compensated. This ensures a safe transportation. Alternatively the load can also be transported from one vessel to another vessel.
The invention further relates to a ship comprising a motion compensation and transportation unit and/or motion compensation and transportation system according to an embodiment of the present invention.
The ship provides similar advantages and effects as described for motion compensation and transportation unit and/or the motion compensation and transportation system.
The invention farther relates to a method for compensating and transporting a load of a vessel, comprising: - providing a motion compensation and transportation unit and/or motion compensation and transportation system according to an embodiment of the present invention; and - compensating movement of the vessel through the motion compensation and transportation unit and/or motion compensation and transportation system.
The method provides similar advantages and effects as described for motion compensation and transportation unit and/or the motion compensation and transportation system.
Further advantages, features and details are elucidated on the basis of preferred embodiments thereof, wherein reference is made to the accompanying drawings, wherein: - figure 1 shows a first example of a motion compensation and transportation system according to the invention; - figure 2 shows another view of the first example of the motion compensation and transportation system of the invention; and - figure 3 shows a second example of the motion compensation and transportation system of the invention.
Motion compensation and transportation system 2 (figure 1) comprises motion compensation and transportation unit 4c and transport track 6 and is provided on vessel 10. Transport track 6 comprises two transport rails 7, 8 that are positioned parallel to each other. In the illustrated embodiment distance D between transport rails 7, 8 can be adjusted, such that distance D can be adjusted to the size of the cargo and/or the size of vessel 10 on which motion compensation and transportation system 2 is placed.
Support frames 12a, 12b are each provided with loads 14a, 14b and are standing on supporting elements 17a, 17b. In this illustrated embodiment crane 15 (schematically illustrated) is placed on support frame 12c. In this illustrated example motion compensation and transportation system 2 comprises one motion compensation and transportation unit 4c that can be transported over transport tracks 7 and 8 to pick-up and transport and compensate loads or crane 14a, 14b and 15 on vessel 10. Motion compensation and transportation system 2 is further provided with sensor
42 and controller 40. Loads 14a and 14b in this illustrated example are part of a wind turbine that needs to be shipped to an off-shore building location. It is clear to the skilled person that the present invention is not limited to use for off-shore wind turbines. The details of motion compensation and transportation unit 4 are further illustrated in figure 2.
Motion compensation and transportation unit 4 (figure 2) is provided on transport track 6. Motion compensation and transportation units 4 comprises two transport units 16, 18, wherein each transport unit 16, 18 is provided on a respective transport rail 7, 8. Transport units 16, 18 are able to move over transport rails 7, 8 via wheels 28 that are provided on transport units 16, 18. Alternatively, transport units 16, 18 can be provided with a sliding system or other suitable means.
IO On transport units 16, 18 compensation device 20 is provided. Compensation device 20 comprises four cylinders 22a, 22b, 22c, 22d and engagement members 13a and 13b. In this illustrated embodiment engagement members 13a and 13b are connected to support frame 12. Cylinders 22a, 22b, 22¢, 22d are able to move upwards in direction Z. As cylinders 22a, 22b, 22c, 22d are able to act independently, cylinders 22a, 22b, 22¢, 22d are configured to compensate support frame 12 of {5 movement of vessel 10 in multiple degrees of freedom. In the illustrated embodiment support frame 12 carries and supports the load, and directly or indirectly connects the individual motion compensation and transportation units 4. Optionally, a connection frame is provided for connecting individual transport units 16, 18 with cylinders 22a, 22b, 2c, 22d preferably being provided between connection frame and the engagement members.
In the present illustrated embodiment comprising four cylinders 22a, 22b, 22¢, 22d, the motions that can preferably be compensated are pitch (rotation over the X-axis), roll (rotation over the Y-axis), sway (translation over the X-axis), surge (translation over the Y-axis) and heave (translation over the Z-axis). As an example, cylinders 22a and 22b can be actuated while cylinders 22c and 22d do not act, such that a roll movement of vessel 1 can be compensated. In another example, cylinders 22a and 22c can be actuated while cylinders 22b and 22d do not act, such that a pitch movement of vessel 10 can be compensated. In this way an efficient and effective compensation mechanism for compensating movement of vessel 10 is provided. Further provided on motion compensation and transportation unit 4 is power pack 26 that provides power to transport units 16, 18 to move over transport track 6. In the illustrated embodiment power pack 26 is operatively coupled to transport units 16, 18 so that power pack 26 drives motion compensation and transportation unit 4. Optionally, connectors 29 (figure 2) are provided to enable direct or indirect coupling of individual transport units. Also optionally, system 2 comprises system connector 31 (figure 1) to enable coupling of system 2 to another system, for example on the quay to enable transport of units da, 4b, 4c between systems 2.
Motion compensation and transportation unit 4 (figure 3) can also comprise multiple compensation devices 120, 136. Compensation device 120 comprises cylinders 122a, 122b, 122¢,
122d and support frame 112. Compensation device 136 comprises cylinders 132a, 132b, 132c, 132d and support frame 134. Compensation device 136 is positioned on top of compensation device 120. By providing multiple compensation devices 120, 136 the combined stroke of the motion compensation and transportation unit 4 is enhanced, such that motion compensation and transportation unit 4a is able to compensate larger movements of vessel 10.
In an embodiment according to the invention motion compensation and transportation system 2 is provided on vessel 10 (figure 1). Transport track 6 of motion compensation and transportation system 2 comprises two transport rails 7 and 8, wherein the distance D between transport rails 7 and 8 is adjusted to the size of the vessel. On support frame 12a load 14a is placed.
This can for example be done by crane 15 (schematically illustrated) that is provided on a second support frame {2c.
When vessel 10 (figure 1) is at sea it may be subject to rough weather conditions such as waves. These waves cause vessel 10 to move, for example a rol! motion. Without compensation system 2 this roll movement can cause unwanted stress on load 14a. Sensor(s) 42 is/are provided on vessel 10 which measure the movements of vessel 10 in relation to a reference body, i.e. the earth. Sensors 42 send this information to controller 40 which is configured to drive cylinders 22a, 22b, 22c and 22d. To compensate a roll motion, it is for example possible that cylinders 22b and 22a move upwards in a vertical direction, while cylinders 22c and 22d simultaneously move downwards, such that a counter-roll movement is achieved. In this way load 14a is substantially stable in relation to the reference body. It is clear to the skilled person that in this way also pitch, sway, surge and heave motions can be compensated. Furthermore, due to transport units 16, 18 being able to move over transport track 6, motion compensation and transportation system 2 is furthermore able to compensate any surge motion even further. This acquires an extra stable motion compensation and transportation system 2.
Sensor 42 can also give controller 40 information about the wind speed, for example. It may be possible that a high load 14a is supported on support frame 12a, thereby resulting in a large force exerted on load 14a due to the wind. This force can also be compensated, as cylinders 22a, 22b, 22c and 22d make it possible to tilt support frame 12a in any direction, thereby counteracting the force of the wind.
In case of so-called vessel-to-vessel or vessel-to-platform load transfer involving vessel 10 that is equipped with motion compensation and transportation system 2 load is transferred between vessel 10 and another vessel or platform. This other vessel or platform is preferably equipped with an heave compensated hoist system. During load transfer the angular motions of vessel 10 are compensated for by motion compensation and transportation unit 4. In such case the translational and at least vertical motions of vessel 10 and/or the other vessel/platform are preferably compensated for by the hoist system on this other vessel/platform. Preferably, compensation systems communicate with each other to keep the relative translational and/or angular motions as small as possible.
The present invention is by no means limited to the above described preferred embodiments thercof.
The rights sought are defined by the following claims within the scope of which many modifications can be envisaged.
CLAUSES
1. Motion compensation and transportation unit for transporting and compensating a load on a vessel, comprising: - at least two transport units that are configured to be moveable over a transport track; - a drive for driving the at least two transport units; and - a compensation device, comprising: - one or more engagement members provided on each transport unit for engaging a support frame for supporting the load; - a controller that is configured for determining the motion compensation; and - a plurality of cylinders operatively connected to the one or more engagement members for adjusting the engagement member in relation to the transport unit.
2. Motion compensation and transportation unit according to clause 1, wherein the plurality of cylinders are individually driven by the controller such that the engagement member is adjustable in relation to the transport unit for at least pitch and roll movements of the vessel.
3, Motion compensation and transportation unit according to clause 1 or 2, wherein the plurality of cylinders comprises four cylinders.
4. Motion compensation and transportation unit according to any one of the foregoing clauses, further comprising one or more sensors for detecting disturbances of the vessel, wherein the sensors are operatively connected to the controller.
5. Motion compensation and transportation unit according to any one of the foregoing claims, further comprising a support frame that is connected to the engagement members.
6. Motion compensation and transportation unit according to any one of the foregoing clauses, comprising multiple compensation devices stacked upon each other.
7. Motion compensation and transportation unit according to any one of the foregoing clauses, wherein the compensation device further comprises a connection frame for connecting the transport units, and wherein the plurality of cylinders are provided between the connecting frame and the supporting frame.
8. Motion compensation and transportation unit according to any one of the foregoing clauses, wherein the transport unit comprises a number of wheels and is movable over the transport track with the wheels.
9. Motion compensation and transportation unit according to any one of the foregoing clauses, further comprising a hydraulic power unit for powering the plurality of cylinders.
10. Motion compensation and transportation unit according to any one of the foregoing clauses, further comprising a power pack for powering the drive of the transport units and/or the plurality of cylinders.
11. Motion compensation and transportation unit according to any of the foregoing clauses, wherein the motion compensation and transportation unit further comprises a crane attached to the engagement members or the support frame.
12. Motion compensation and transportation system, comprising: - a transport track comprising two transport rails that extend substantially parallel tot each other; and - a motion compensation and transportation unit according to any one of the foregoing clauses that is provided on the transport track.
13. Motion compensation and transportation system according to clause 12, wherein the distance between the transport rails is adjustable,
14. Motion compensation and transportation system according to clause 12 or 13, wherein the motion compensation and transportation system comprises a plurality of compensation and transportation units provided on the transport track, wherein the motion compensation and transportation units are configured to work separately and/or cooperatively.
15. Motion compensation and transportation system according to any one of the foregoing clauses 12-14, further comprising a connector that is configured for connecting the motion compensation and transportation system to another motion compensation and transportation system.
16. Ship comprising a motion compensation and transportation unit and/or motion compensation and transportation system according to any one of the foregoing clauses.
17. Method for compensating and transporting a load of a vessel, comprising: - providing a motion compensation and transportation unit and/or motion compensation and transportation system according to any one of the foregoing clauses; and - compensating movement of the vessel through the motion compensation and transportation unit and/or motion compensation and transportation system.

Claims (17)

CONCLUSIES {. Bewegingscompensatie- en transporteereenheid voor het transporteren en compenseren van een lading op een schip: - ten minste twee transporteenheden die zijn ingericht om beweegbaar te zijn over een transportbaan; - een aandrijving voor het aandrijven van de ten minste twee transporteenheden; en - een compensatie-inrichting, omvattende: - één of meer aangrijpelementen die zijn voorzien op elke transporteenheid voor het aangrijpen op een draaggestel voor het dragen van de lading; - een regelaar die is ingericht voor het vaststellen van de bewegingscompensatie; en - een veelvoud van cilinders die werkzaam verbonden zijn met de één of meer aangrijpelementen voor het verstellen van de aangrijpelementen ten opzichte van de transporteenheid.CONCLUSIONS {. Movement compensation and transport unit for transporting and compensating a load on a ship: - at least two transport units adapted to be movable over a transport path; - a drive for driving the at least two transport units; and - a compensation device, comprising: - one or more engaging elements provided on each transport unit for engaging a carrier frame for carrying the load; - a controller adapted to determine the motion compensation; and - a plurality of cylinders operatively connected to the one or more engaging elements for adjusting the engaging elements relative to the transport unit. 2. Bewegingscompensatie- en transporteereenheid volgens conclusie 1, waarbij de veelvoud van cilinders individueel aangedreven worden door de regelaar zodanig dat het aangrijpelement verstelbaar is ten opzichte van de transporteereenheid voor ten minste stamp- en slingerbewegingen van het vaartuig.The motion compensation and transport unit according to claim 1, wherein the plurality of cylinders are individually driven by the controller such that the engagement member is adjustable relative to the transport unit for at least pitch and roll movements of the vessel. 3. Bewegingscompensatie- en transporteereenheid volgens conclusie 1 of 2, waarbij de veelvoud van cilinders vier cilinders omvatten.The motion compensation and transport unit according to claim 1 or 2, wherein the plurality of cylinders comprise four cylinders. 4. Bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies, verder omvattende één of meer sensoren voor het detecteren van bewegingen van het vaartuig, waarbij de sensoren werkzaam zijn verbonden met de regelaar.A motion compensation and transport unit according to any one of the preceding claims, further comprising one or more sensors for detecting vessel movements, the sensors being operatively connected to the controller. 5. Bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies, verder omvattende een draaggestel dat is verbonden met de aangrijpelementen.A motion compensation and transport unit according to any one of the preceding claims, further comprising a support frame connected to the engaging elements. 6. Bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies, omvattende meerdere boven op elkaar gestapelde compensatie-inrichtingen.A motion compensation and transport unit according to any one of the preceding claims, comprising a plurality of compensation devices stacked on top of each other. 7. Bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies, waarbij de compensatie-inrichting verder een verbindingsgestel omvat voor het verbinden van de transporteenheden, en waarbij de veelvoud van cilinders zijn voorzien tussen het verbindingsgestel en het draaggestel.A motion compensation and transport unit according to any one of the preceding claims, wherein the compensation device further comprises a connecting frame for connecting the transport units, and wherein the plurality of cylinders are provided between the connecting frame and the supporting frame. $. Bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies, waarbij de transporteenheid een aantal wielen omvat en door middel van de wielen beweegbaar over de transportbaan is.$. Motion compensation and transport unit according to any one of the preceding claims, wherein the transport unit comprises a number of wheels and is movable over the transport track by means of the wheels. 9. Bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies, verder omvattende een hydraulische energiebron voor het voorzien van energie voor de veelvoud van cilinders.A motion compensation and transport unit according to any preceding claim, further comprising a hydraulic power source for supplying power to the plurality of cylinders. 10. Bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies, verder omvattende een accu voor het voorzien van energie voor de aandrijving van de transporteenheden en/of de veelvoud van cilinders.A motion compensation and transport unit according to any one of the preceding claims, further comprising a battery for providing energy for driving the transport units and/or the plurality of cylinders. 11. Bewegingscompensatie en transporteereenheid- volgens één van de voorgaande conclusies, waarbij de bewegingscompensatie- en transporteereenheid verder een kraan omvat die is verbonden met de aangrijpelementen of het draaggestel.The motion compensation and transport unit according to any one of the preceding claims, wherein the motion compensation and transport unit further comprises a crane connected to the engaging elements or the support frame. 12. Bewegingscompensatie en transporteersysteem, omvattende: - een transportbaan omvattende twee transportrails die zich in hoofdzaak parallel aan elkaar uitstrekken; en - een bewegingscompensatie- en transporteereenheid volgens één van de voorgaande conclusies die is voorzien op de transportbaan.12. Motion compensation and transport system, comprising: - a transport track comprising two transport rails extending substantially parallel to each other; and - a motion compensation and conveying unit according to any one of the preceding claims provided on the conveying path. 13. Bewegingscompensatie- en transporteersysteem volgens conclusie 12, waarbij de afstand tussen de transportrails instelbaar is.A motion compensation and transport system according to claim 12, wherein the distance between the transport rails is adjustable. 14. Bewegingscompensatie- en transporteersysteem volgens conclusie 12 of 13, waarbij het bewegingscompensatie- en transporteersysteem een veelvoud van bewegingscompensatie- en transporteereenheden omvat die zijn voorzien op de transportbaan, waarbij de bewegingscompensatie- en transporteereenheden zijn ingericht om afzonderlijk en/of samen te werken.The motion compensation and conveying system according to claim 12 or 13, wherein the motion compensation and conveying system comprises a plurality of motion compensation and conveying units provided on the conveying path, the motion compensating and conveying units being arranged to operate separately and/or together. 15. Bewegingscompensatie- en transporteersysteem volgens één van de voorgaande conclusies 12 — 14, verder omvattende een verbinder die is ingericht voor het verbinden van het bewegingscompensatie- en transporteersysteem met een ander bewegingscompensatie- en transporteersysteem.A motion compensation and transport system according to any one of the preceding claims 12-14, further comprising a connector adapted to connect the motion compensation and transport system to another motion compensation and transport system. 16. Schip voorzien van een bewegingscompensatie- en transporteereenheid en/of bewegingscompensatie- en transporteersysteem volgens één van de voorgaande conclusies.Ship provided with a motion compensation and transport unit and/or motion compensation and transport system according to any one of the preceding claims. 17. Werkwijze voor het compenseren en transporteren van een lading van een schip, omvattende: - het voorzien van een bewegingscompensatie- en transporteereenheid en/of bewegingscompensatie- en transporteersysteem volgens één van de voorgaande conclusies; en - het compenseren van bewegingen van het schip door de bewegingscompensatie- en transporteereenheid en/of het bewegingscompensatie- en transporteersysteem.A method for compensating and transporting a cargo of a ship, comprising: - providing a motion compensation and transport unit and/or motion compensation and transport system according to any one of the preceding claims; and - compensating for movements of the ship by the motion compensation and transport unit and/or the motion compensation and transport system.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2853480A1 (en) * 2013-09-30 2015-04-01 BLG Logistics Solutions GmbH & Co. KG Buoyant load carrier for transporting loads
US10308327B1 (en) * 2018-07-10 2019-06-04 GeoSea N.V. Device and method for lifting an object from a deck of a vessel subject to movements
WO2020043254A1 (en) * 2018-08-31 2020-03-05 Maersk Supply Service A/S A method of installing a crane on a portion of an offshore wind turbine generator and a vessel therefor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2853480A1 (en) * 2013-09-30 2015-04-01 BLG Logistics Solutions GmbH & Co. KG Buoyant load carrier for transporting loads
US10308327B1 (en) * 2018-07-10 2019-06-04 GeoSea N.V. Device and method for lifting an object from a deck of a vessel subject to movements
WO2020043254A1 (en) * 2018-08-31 2020-03-05 Maersk Supply Service A/S A method of installing a crane on a portion of an offshore wind turbine generator and a vessel therefor

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