NL2029987B1 - Vessel and a crane with heave compensation system - Google Patents

Vessel and a crane with heave compensation system Download PDF

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Publication number
NL2029987B1
NL2029987B1 NL2029987A NL2029987A NL2029987B1 NL 2029987 B1 NL2029987 B1 NL 2029987B1 NL 2029987 A NL2029987 A NL 2029987A NL 2029987 A NL2029987 A NL 2029987A NL 2029987 B1 NL2029987 B1 NL 2029987B1
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NL
Netherlands
Prior art keywords
manipulator
crane
accumulator
compensation system
hoist
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Application number
NL2029987A
Other languages
Dutch (nl)
Inventor
Van Bennekom Marcel
Original Assignee
Kenz Figee Group B V
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Application filed by Kenz Figee Group B V filed Critical Kenz Figee Group B V
Priority to NL2029987A priority Critical patent/NL2029987B1/en
Application granted granted Critical
Publication of NL2029987B1 publication Critical patent/NL2029987B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

The invention relates to an assembly of a vessel and. a crane comprising‘ a base, a winch. on the base, a fixing point on the base, a cable, and a heave compensation having a manipulator and a stationary sheave on the base, and a manipulator sheave on the manipulator, wherein the cable is reeved. fron1 the winch, 'via the sheaves, to the fixing point, wherein the heave compensation system has a first mode with. a first accumulator* at a first pressure connected. to the manipulator, and. a second. mode with a second accumulator at a higher second pressure connected to the manipulator, wherein in the first mode the first pressure is set such. that the manipulator compensates a force exerted on the manipulator sheave, and in the second mode the second pressure is set such that the manipulator moves the manipulator sheave away from the stationary sheave.

Description

P140623NL00
Vessel and a crane with heave compensation system
BACKGROUND
The invention relates to a vessel and a crane with a heave compensation system, more specifically an offshore installation vessel.
Known offshore vessels comprise a hull with a deck and a crane pedestal on the deck that supports a crane. The crane has a slewing crane base that is rotatable with respect to the pedestal and the deck around a vertical slewing axis, a boom that is connected to the crane base, a hoist cable that is suspended from the boom, a hoisting winch to manipulate the hoist cable, and a heave compensation system that compensates the hoist cable for relative motions between the vessel and an offshore platform or the seabed, or for relative motions between the vessel and another adjacent second vessel. The crane is used for hoisting loads from the deck of the vessel or from the deck of the adjacent second vessel, to the offshore platform or onto the seabed. The crane and therewith the hoist cable typically has a maximum hoisting capacity of tens to hundreds of tons or more.
SUMMARY OF THE INVENTION
During lifting operations of the crane assembly, due to relative vertical motions between both vessels, it can happen that the lifted load hits the deck, especially
Just after lift-off of the load from the deck. The impact of the hit may lead to dangerous situations and it may result in damage to the load and/or the deck. In particular when lifting a load from the deck of the adjacent second vessel in rough seas the risk of the lifted load hitting the deck is significant.
It is an object of the present invention to provide a vessel and a crane with a heave compensation system that reduce the probability that a lifted load hits the deck.
According to a first aspect, the invention provides a crane with a heave compensation system, wherein the crane comprises a crane base, a boom that is connected to the crane base, a hoist cable that suspends a hoist block from the boom and that at one end is connected to a hoisting winch on the crane base and at the opposite end is connected to a cable fixing point on the crane base, wherein the heave compensation system is provided at the hoist cable between the cable fixing point and the hoisting winch, wherein the heave compensation system comprises a manipulator assembly that is connected to the crane base, a stationary sheave that is rotatably connected to the crane base for guiding the hoist cable, and a manipulator sheave that is rotatably connected to the manipulator assembly for guiding the hoist cable, wherein the hoist cable is reeved from the hoisting winch, via the hoist block, via the stationary sheave, via the manipulator sheave, to the cable fixing point, wherein the manipulator assembly comprises an active manipulator to actively manipulate the displacement of the manipulator sheave with respect to the stationary sheave, and a passive manipulator to passively manipulate the displacement of the manipulator sheave with respect to the stationary sheave, to adjust the effective length of the hoist cable between the hoist cable fixing point and the hoist block, wherein the passive manipulator comprises a first barrel, a first piston inside the first barrel that bounds a first chamber, a first accumulator with a gas at a first pressure that is connectable to the first chamber, and a second accumulator with a gas at a higher second pressure that is connectable to the first chamber, wherein the heave compensation system is switchable between a first mode in which the first accumulator is in fluid communication with the first chamber and the first pressure acts on the first piston, and a second mode in which the second accumulator is in fluid communication with the first chamber and the second pressure acts on the first piston, wherein in the first mode the first pressure is set such that the passive manipulator compensates at least a portion of the force that is exerted on the manipulator sheave by the hoist cable, and wherein in the second mode the second pressure is set such that the passive manipulator moves the manipulator sheave away from the stationary sheave over a hoisting stroke to reduce the effective length of the hoist cable between the hoist cable fixing point and the hoist block.
The hoist cable is reeved along the stationary sheave and the manipulator such that the hoisted load exerts a downward force on the stationary sheave. The gas pressure in the first chamber exerts an upwards force on the first piston and therewith through a piston rod exerts an upward force on the manipulator sheave. By setting the second gas pressure such that the upwards force exerted on the manipulator sheave is higher than the downwards force exerted on the manipulator sheave by the lifted load, it is assured that in the second mode the manipulator sheave is moved upwards with respect to the stationary sheave. Hereby the effective length of the hoist cable between the cable fixing point and the hoist block is reduced, and the hoist block is moved upwards over the hoist stroke with an increased lifting speed with respect to the notional fixed world, and therewith with respect to the heaving deck.
Hereby the lifted load is brought out of the way of the heaving deck which reduces the probability that the lifted load hits the deck.
In an embodiment in the first mode the active manipulator compensates at least a portion of the motions of the manipulator sheave with respect to the stationary sheave that are caused by the hoist cable, and in the second mode the active manipulator contributes in moving the manipulator sheave away from the stationary sheave. In the first mode the heave compensation system operates as a heave compensation to improve the safety of the lift. In the second mode the active manipulator further increases the upwards lifting speed of crane, whereby the lifted load can be brought out of the way of the heaving deck even faster which further reduces the probability that the lifted load hits the deck.
In an embodiment the passive manipulator and the active manipulator are arranged in series. This improves the synchronization between the passive manipulator and the active manipulator which reduces the complexity of the controllers thereof.
In an embodiment the manipulator assembly has a central manipulator axis and comprises a piston rod that extends along the manipulator axis, that is moveably mounted in the first barrel of the passive manipulator, and that is connected to the first piston to be moveable along the manipulator axis, wherein the first barrel is connected to the crane base and the piston rod is connected to the manipulator sheave. In an embodiment the active manipulator comprises a second barrel, and a second piston inside the second barrel, wherein the piston rod is moveably mounted in the second barrel of the active manipulator, and is connected to the second piston to be moveable along the manipulator axis, wherein the manipulator assembly comprises a hydraulic pump that is connected to the active manipulator and that is configured to, in the first mode, set or adjust the position of the second piston inside the second barrel. The barrel and piston assembly is a robust solution for an actuator assembly, which improves the reliability and the operational life of the heave compensation system.
In an embodiment the manipulator assembly comprises a first valve between the first accumulator and the first chamber, a second valve between the second accumulator and the first chamber, wherein the first valve and the second valve are switchable between an open and a 5 closed position, and wherein the first valve and the second valve are operable to switch the heave compensation system between the first mode and the second mode. In an embodiment the manipulator assembly comprises a gas pump that is in fluid communication with the first accumulator and/or the second accumulator, wherein the gas pump is operable to set or adjust the pressure of the gas in the first accumulator and/or to set or adjust the pressure of the gas in the second accumulator. The valves and gas pump are a robust solution for switching between the first and second mode which improves the reliability and the operational life of the heave compensation system.
In an embodiment the heave compensation system comprises multiple stationary sheaves and/or multiple manipulator sheaves, wherein the hoist cable is reeved multiple times between the stationary sheaves and/or the manipulator sheaves. By using multiple reevings the same stroke and speed of the manipulator assembly results in improved lifting speed and hoist stroke of the hoist block, whereby the lifted load can be brought out of the way of the heaving deck even faster which further reduces the probability that the lifted load hits the deck.
In an embodiment the first pressure of the first accumulator is between 1 bar and 200 bar, preferably between 5 bar and 200 bar, more preferably 15 bar. In an embodiment the second pressure of the second accumulator is between 100 bar and 400 bar, preferably between 200 bar and 300 bar, more preferably 200 bar. In an embodiment the first manipulator has a first stroke length for the manipulator sheave that is between 1 meter and 5 meter, preferably between 2 meter and 4 meter. In an embodiment the second manipulator has a second stroke length for the manipulator sheave that is equal to the first stroke length. In an embodiment the maximum moving speed of the first piston is between 0,5 meter per second and 2 meter per second, preferably between 1 meter per second and 1,5 meter per second.
According to a second aspect, the invention provides a heave compensation system for use in a crane according to any one of the aforementioned embodiments, wherein the heave compensation system comprises a manipulator assembly, a stationary sheave for guiding the hoist cable, and a manipulator sheave that is rotatably connected to the manipulator assembly for guiding the hoist cable, wherein a hoist cable of the assembly or the crane is reeved via the stationary sheave and via the manipulator sheave, wherein the manipulator assembly comprises an active manipulator to actively manipulate the displacement of the manipulator sheave with respect to the stationary sheave, and a passive manipulator to passively manipulate the displacement of the manipulator sheave with respect to the stationary sheave, to adjust the effective length of the hoist cable, wherein the passive manipulator comprises a first chamber, a first accumulator at a first pressure that 1s connectable to the first chamber, and a second accumulator at a higher second pressure that is connectable to the first chamber, wherein the heave compensation system is switchable between a first mode in which the first accumulator is in fluid communication with the first chamber, and a second mode in which the second accumulator is in fluid communication with the first chamber, wherein in the first mode the first pressure is set such that the passive manipulator compensates at least a portion of the force that is exerted on the manipulator sheave by the hoist cable, and wherein in the second mode the second pressure is set such that the passive manipulator moves the manipulator sheave away from the stationary sheave over a hoisting stroke to reduce the effective length of the hoist cable.
According to a third aspect, the invention
: provides a vessel that comprises a hull, and a crane according to any one of the aforementioned embodiments that is arranged with its crane base on the hull.
According to a second aspect, the invention provides a method for operating a crane with a heave system, wherein the crane comprises a crane base, a boom that is connected to the crane base, a hoist cable that suspends a hoist block from the boom and that at one end is connected to a hoisting winch on the crane base and at the opposite end is connected to a cable fixing point on the crane base, wherein the heave compensation system is provided at the hoist cable between the cable fixing point and the hoisting winch, wherein the heave compensation system comprises a manipulator assembly that is connected to the crane base, a stationary sheave that is rotatably connected to the crane base for guiding the hoist cable, and a manipulator sheave that is rotatably connected to the manipulator assembly for guiding the hoist cable, wherein the hoist cable is reeved from the hoisting winch, via the hoist block, via the stationary sheave, via the manipulator sheave, to the cable fixing point, wherein the manipulator assembly comprises an active manipulator to actively manipulate the displacement of the manipulator sheave with respect to the stationary sheave, and a passive manipulator to passively manipulate the displacement of the manipulator sheave with respect to the stationary sheave, to adjust the effective length of the hoist cable between the hoist cable fixing point and the hoist block, wherein the passive manipulator comprises a first barrel, a first piston inside the first barrel that bounds a first chamber, a first accumulator with a gas at a first pressure that is connectable to the first chamber, and a second accumulator with a gas at a higher second pressure that is connectable to the first chamber, wherein the heave compensation system is switchable between a first mode in which the first accumulator is in fluid communication with the first chamber and the first pressure acts on the first piston,
and a second mode in which the second accumulator is in fluid communication with the first chamber and the second pressure acts on the first piston, wherein in the first mode the first pressure is set such that the passive manipulator compensates at least a portion of the force that is exerted on the manipulator sheave by the hoist cable, and wherein in the second mode the second pressure is set such that the passive manipulator moves the manipulator sheave away from the stationary sheave over a hoisting stroke to reduce the effective length of the hoist cable between the hoist cable fixing point and the hoist block, wherein the method comprises the steps of switching the heave compensation system to the first mode, with the heave compensation system in the first mode lifting a load with the crane, switching the heave compensation system from the first mode to the second mode, with the heave compensation system in the second mode lifting a load with the crane.
In an embodiment the manipulator assembly comprises a first valve between the first accumulator and the first chamber, a second valve between the second accumulator and the first chamber, wherein the first valve and the second valve are switchable between an open and a closed position, and wherein the first valve and the second valve are operable to switch the heave compensation system between the first mode and the second mode, wherein the step of switching the heave compensation system from the first mode to the second mode comprises switching the first valve from the open position to the closed position and switching the second valve from the closed position to the open position.
In an embodiment the manipulator assembly comprises a gas pump that is in fluid communication with the first accumulator and/or the second accumulator, wherein the gas pump is operable to set or adjust the pressure of the gas in the first accumulator and/or to set or adjust the pressure of the gas in the the second accumulator, wherein the method comprises setting the pressure of the gas in the first accumulator by the gas pump and/or setting the pressure of the gas in the second accumulator by the gas pump.
The heave compensation system, the vessel and the method relate to the crane with a heave compensation system according to any one of the aforementioned embodiments and thus has at least the same technical advantages, which will not be repeated hereafter.
The various aspects and features described and shown in the specification can be applied, individually, wherever possible. These individual aspects, in particular the aspects and features described in the attached dependent claims, can be made subject of divisional patent applications.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention will be elucidated on the basis of an exemplary embodiment shown in the attached drawings, in which:
Figure 1A is a side view of an assembly of a vessel and a crane according to an embodiment of the invention, wherein the crane comprises a crane base and a heave compensation system on the crane base;
Figure 1B is a top view of the crane of figure 1A; and
Figure 2 is a schematic view of the heave compensation system of the crane of figures 1A and IB.
DETAILED DESCRIPTION OF THE INVENTION
Figure 1A is a side view of an assembly 1 of a crane 20 on a partly shown simplified representation of a vessel 2 according to an embodiment of the invention. The vessel 2 comprises a hull 3 with a deck 4, and a crane pedestal 5 on the deck 4 that supports the crane 20. The crane 20 is used for hoisting loads from the deck 4 of the vessel 2, or more particular from the deck of another adjacent second vessel to an offshore platform, onto the seabed or onto its own deck 4. A typical application for the crane 20 may be to assemble or to assist in assembling offshore wind turbines. The crane 20 in this example is an offshore boom hoist crane.
As shown in figures 1A and 1B, the crane 20 comprises a slewing crane base 21 that is rotatably connected to the crane pedestal 5 via a circular slewing bearing or slewing ring 22 for slewing or rotating the crane base 21 with respect to the crane pedestal 5 around a vertical slewing axis S.
The crane 20 comprises an elongate boom 30 having two spaced apart box shaped boom girders 31 that taper towards each other in the longitudinal direction of the boom 30, and multiple crossbars 32 that interconnect and space apart the boom girders 31 substantially transverse thereto. The boom 30 comprises a boom heel 33 at the proximal end of the boom girders 31, and a boom tip 34 at the distal end of the boom girders 31. The boom 30 is at the boom heel 33 hingeably connected to a boom suspension 23 at the crane base 21 by a pin-hole connection to be hingeable around a horizontal boom luffing axis P.
The crane 20 comprises an A-frame 25 on the crane base 21, and a luffing arrangement 26 between the topside of the A-frame 25 and the boom tip 34 for luffing or hinging the boom 30 with respect to the crane base 21 around the boom luffing axis P.
The crane 20 comprises, in this example, a first guide sheave 61 at or near the boom tip 34, a second guide sheave 62 at or near the boom tip 34 spaced apart from the first guide sheave 61 in the longitudinal direction of the boom 30, a third guide sheave 63 at or near the boom tip 34 spaced apart from the first guide sheave 61 and the second guide sheave 62 in the longitudinal direction of the boom 30, and a fourth guide sheave 64 at or near the boom heel 33. The guide sheaves 61, 62, 63, 64 are orientated vertically, parallel to the longitudinal direction of the boom 30 and are located between the boom girders 31.
The crane 20 comprises a hoist cable 40, and a hoist block 50 that is suspended from the boom 30 by the hoist cable 40 to form a tackle. The hoist block 50 comprises a hoist block body 51, a hoist block sheave 52 that is rotatably connected to the hoist block body 51 by a pin-hole connection, and a crane hook 53 that is connected to the hoist block body 51 for connecting or hooking loads to the crane 20.
The continuous hoist cable 40 is at a first end connected to a hoisting winch 41 on the crane base 21 to manipulate the hoist cable 40, and is at its second end fixedly connected to a hoist cable fixing point 42 on the crane base 20. The section of the hoist cable 40 that extends between the hoisting winch 41 and the hoist block 50 is the live part or actuated section 43 of the hoist cable 40, and the section of the hoist cable 40 that extends between the hoist cable fixing point 42 and the hoist block 50 is the dead part or fixed section 44 of the hoist cable 40.
The hoist cable 40 is guided or reeved from the hoisting winch 41 via the first guide sheave 61, via the second guide sheave 62, via the hoist block sheave 52, via the third guide sheave 63, via the fourth guide sheave 64, via and along a heave compensation system 100 to the hoist cable fixing point 42.
The heave compensation system 100 comprises a manipulator assembly 105 that is supported by and connected to the crane base 21 and that has a central manipulator axis A. The manipulator assembly 105 comprises, in this example, at the bottom a passive manipulator or passive first cylinder 110 along the manipulator axis A, and at the top an active manipulator or active hydraulic second cylinder 120 that is in series with the first cylinder 110 along the manipulator axis A, a piston rod 130 that extends along the manipulator axis A and that is moveably mounted in the first cylinder 110 and the second cylinder 120 to be moveable along the manipulator axis A, a first piston 131 inside the first cylinder 110 and connected to a first end of the piston rod 130, a, in this example T-shaped, rod head 135 connected to the opposite second end of the piston rod 130, and a second piston 132 inside the second cylinder 120 and connected to the piston rod 130 between the first end and the second end thereof. The piston rod 130 and the rod head 135 protrude from the top of the second cylinder 120. The first cylinder 110 of the manipulator assembly 105 is configured to exert a passive upward force on the piston rod 130, and the second cylinder 120 of the manipulator assembly 105 is configured to exert an active upward and/or downward force on the piston rod 130.
The heave compensation system 100 comprises a first stationary sheave 101 and a second stationary sheave 102 that are rotatably connected to the crane base 21 by a pin-hole connection, and a first manipulator sheave 103 and a second manipulator sheave 104 that are rotatably connected to the rod head 135 by a pin-hole connection. In this example the first manipulator sheave 103 and the second manipulator sheave 104 are respectively connected to the respective arms of the T-shaped rod head 135 at opposite sides of the piston rod 130 and substantially parallel to each other.
The hoist cable 40 is reeved as from the fourth guide sheave 64 along the heave compensation system 100, via the first stationary sheave 101, via the first manipulator sheave 103, via the second stationary sheave 102, via the second manipulator sheave 104, to the hoist cable fixing point 42 on the crane base 21.
The heave compensation system 100 is configured to set or adjust the effective length of the hoist cable 40 between the hoist cable fixing point 42 and the hoist block
50 by moving the piston rod 130 along the central manipulator axis A and therewith setting or adjusting the distance of the manipulator sheaves 103, 104 with respect to the stationary sheaves 101, 102. Due to the reeving of the hoist cable 40 along the heave compensation system 100 the adjusted distance between the manipulator sheaves 103, 104 and the stationary sheaves 101, 102 results in an adjustment of the effective length of the dead part of the hoist cable 40.
As best shown in figure 2, the first cylinder 110 of the manipulator assembly 105 of the heave compensation system 100 comprises a cylindrical first barrel 111 having a circumferential first side wall 112, a first bottom wall 113 that is supported by and connected to the crane base 21, and a first top wall 114 with a first piston rod opening 115 for the piston rod 130. The first cylinder 110 has a first stroke length Cl. The first piston 131 sealingly abuts the first side wall 112.
The second cylinder 120 of the heave compensation system 100 comprises a cylindrical second barrel 121 having a circumferential second side wall 122, a second bottom wall 123 that is adjacent to, supported by, connected to, merges into or coincides with the first top wall 114, and a top wall 124 with a second piston rod opening 125 for the piston rod 130. The second cylinder 120 has a second stroke length C2 that is substantially equal to the first stroke length C1. The second piston 132 sealingly abuts the second side wall 122.
The first side wall 112, the first bottom wall 113 and the first piston 131 bound a first cylinder chamber 116 at the bottom of the first barrel 111, and the first side wall 112, the first top wall 114 and the first piston 131 bound a second cylinder chamber 117 at the top of the first barrel 111. The second side wall 122, the second bottom wall 123 and the second piston 132 bound a third cylinder chamber 126 at the bottom of the second barrel 121, and the second side wall 122, the second top wall 124 and the second piston 132 bound a fourth cylinder chamber 117 at the top of the second barrel 121. The surface area of the second piston 132 in the third cylinder chamber 126 is equal to the surface area of the second piston 132 in the fourth cylinder chamber 127.
The manipulator assembly 105 comprises a first tank or first accumulator L that is filled with a volume of gas at a first pressure, and a second tank or second accumulator H that is filled with a volume of gas at a second pressure that is higher than the first pressure. The gas may for instance be nitrogen. The manipulator assembly 105 comprises a first conduit 141 that connects the first accumulator L to the second cylinder chamber 117, a first valve 142 at the first conduit 141 that is switchable between an open position and a closed position, a second conduit 143 that connects the second accumulator H to the first cylinder chamber 116, a second valve 144 at the second conduit 143 that is switchable between an open position and a closed position, an interconnecting conduit 148 that interconnects the first conduit 141 to the second conduit 143, and an interconnecting valve 149 at the interconnecting conduit 148 that is switchable between an open position and a closed position.
The first valve 142, the second valve 144 and the interconnecting valve 149 are switchable between a first state and a second state. In the first state the first accumulator L is in fluid communication with the first cylinder chamber 116, and the first accumulator L is in fluid communication with the second cylinder chamber 117.
Due to the difference in piston area of the first piston 131 inside the first cylinder chamber 116 with respect to the piston area inside the second cylinder chamber 117, a resulting upwards force acts on the first piston 131. In the second state only the second accumulator H is in fluid communication with the first cylinder chamber 116, and the first accumulator L is in fluid communication with the second cylinder chamber 117. Due to the pressure difference in the first cylinder chamber 116 with respect to the second cylinder chamber 117, and due to the difference in piston area of the first piston 131 inside the first cylinder chamber 116 with respect to the piston area inside the second cylinder chamber 117, a resulting upwards force acts on the first piston 131.
In the first state of the valves 142, 144 the first cylinder 110 is or acts like a pretensioned spring, more precisely an air spring, that has a momentary first spring stiffness or momentary first spring constant, and in the second state of the valves 142, 144 the first cylinder 110 is or acts like a pre-tensioned spring that has a momentary second spring stiffness or momentary spring constant that is higher than the momentary first spring constant due to the higher pressure of the gas in the second accumulator H as compared to the pressure of the gas in the first accumulator L. The high volume of gas in the respective accumulators L, H with respect to the lower volume of gas in the first cylinder chamber 116 ensures that the first cylinder 110 has a substantially proportional spring force over the range of the stroke thereof.
In an alternative configuration of the conduits and valves between the first and second cylinder barrels 116, 117, and the first and second accumulator L, H, the second cylinder chamber 117 is in fluid connection with the environment and is therefore filled with air. The manipulator assembly 105 comprises a first conduit that connects the first accumulator L to the first cylinder chamber 116, a first valve at the first conduit that is movable between an open position and a closed position, a second conduit that connects the second accumulator H to the first cylinder chamber 116, and a second valve at the second conduit that is movable between an open position and a closed position.
In this alternative configuration the first valve and the second valve are switchable between a first state and a second state. In the first state only the first accumulator L is in fluid communication with the first cylinder chamber 116, and in the second state only the second accumulator H is in fluid communication with the first cylinder chamber 116.
The manipulator assembly 105 comprises a compressor or gas pump 145 that is in fluid communication with the first accumulator L and the second accumulator H through a third conduit 146 and a fourth conduit 147 respectively. The pump 145 can set or adjust the pressure of the respective first accumulator L and second accumulator H. The gas pump can also be connected to a not shown external gas source from which the respective accumulators L, H can be filled.
The manipulator assembly 105 comprises a hydraulic motor or hydraulic pump 150, a fifth conduit 151 that connects the hydraulic pump 150 to the third cylinder chamber 126, and a sixth conduit 152 that connects the hydraulic pump 150 to the fourth cylinder chamber 127. The manipulator assembly 105 comprises a seventh conduit 153 that connects the third cylinder chamber 126 to the fourth cylinder chamber 127, and a third valve 154 at the seventh conduit 153 that is switchable between an open position and a closed position.
The third cylinder chamber 126 and the fourth cylinder chamber 127 are filled with hydraulic oil. When the hydraulic 150 pump is active the third valve 154 is in the closed position. The hydraulic pump 150 is configured to set or adjust the position of the second piston 132 in the second barrel 121 by pumping hydraulic oil from the third cylinder chamber 126 to the fourth cylinder chamber 127 or vice versa. When the hydraulic 150 pump is inactive the third valve 154 can be switched to the open position so that the third cylinder chamber 126 and the fourth cylinder chamber 127 are interconnected by the seventh conduit 153.
The hydraulic oil can then flow freely between the third cylinder chamber 126 and the fourth cylinder chamber 127 through the seventh conduit 153 when the second piston 132 moves or 1s moved within the second barrel 121.
Wave induced motions of the vessel 2 may cause the crane 20 and therewith the hoist block 50 and the hooked load to move with respect to the notional fixed world or the horizon, or with respect to a point on the adjacent second vessel. The manipulator assembly 105 has an electronic controller. In a heave compensation mode or first mode of the heave compensation system 100, the heave compensation system 100 is configured to adjust the effective length of the hoist cable 40 between the hoist cable fixing point 42 and the hoist block 50 in order to reduce or cancel out the relative motions of the hoist block 50 with respect to the notional fixed world, or with respect to the point on the adjacent second vessel.
Therefore the manipulator assembly 105 of the heave compensation system 100 imposes, manipulates or follows a displacement of the first and second manipulator sheaves 103, 104 with respect to the first and second stationary sheaves 101, 102.
In this example in the first mode the first piston 131 in the first cylinder 110 follows the displacement of the first and second manipulator sheaves 103, 104 and/or to manipulate the displacement of the first and second manipulator sheaves 103, 104 by passively exercising an upward pushing force on the first and second manipulator sheaves 103, 104 in a direction away from the first and second stationary sheaves 101, 102 to compensate at least a portion of the force that is exerted on the first piston 131 by the hoist cable 40, for instance resulting from the load that is lifted by the crane 20.
Therefore the first valve 142 and the second valve 144 are switched into the first state and the first accumulator L is in fluid communication with the first cylinder chamber 116. The gas pressure in the first accumulator L is set such that the upward force of the first piston 131 is substantially equal to or correspond to the force that is exerted on the first piston 131 by the hoist cable 40 resulting from the lifted load.
In the first mode the second piston 132 is configured to actively push the first and second manipulator sheaves 103, 104 away from the first and second stationary sheaves 101, 102 in order to reduce the effective length of the hoist cable 40, and to actively pull the first and second manipulator sheaves 103, 104 towards the first and second stationary sheaves 101, 102 in order to extend the effective length of the hoist cable 40 by means of the electronic controller of the manipulator assembly 105. The second piston 132 thereby imposes and controls a displacement of the first and second manipulator sheaves 103, 104 with respect to the first and second stationary sheaves 101, 102 to adjust the effective length of the hoist cable 40 between the hoist cable fixing point 42 and the hoist block 50 to compensate at least a portion of the relative motions of the hoist block 50.
In the first mode the first piston 131 of the piston rod 130 oscillates around the middle of the first stroke length Cl of the first cylinder 110, and therewith the second piston 132 is on average positioned in the middle of the second stroke length C2 of the second cylinder 120. The hydraulic pump 150 is configured to, in the first mode, adjust the position of the second piston 132 around the average middle position thereof in response to the electronic controller.
When the moving crane 20 lifts a load from the heaving deck of the adjacent second vessel the relative motions between the hoist block 50 and the load on the deck can be high, in particular the relative vertical motions.
When these relative vertical motions are higher than the vertical lifting speed of the crane block 50 which can be achieved by the hoisting winch 41, there is a risk that during the lifting of the load the deck of the adjacent second vessel moves upwards faster than the lifted load.
The deck can then catch up with the load and hit it, which may result in damage to the load and/or the deck, and which can be dangerous. The risk of a collision between the deck and the load is highest just after lift-off of the load from the deck of the adjacent second vessel.
In a boost mode or second mode of the heave compensation system 100, the heave compensation system 100 is configured to adjust the effective length of the hoist cable 40 between the hoist cable fixing point 42 and the hoist block 50 in order to contribute to or increase the upward vertical lifting speed of the hoist block 50 with respect to the notional fixed world, and therewith with respect to the point on the deck of the adjacent second vessel, and in order to move the hoist block 50 vertically away from the heaving deck. Therefore the manipulator assembly 105 of the heave compensation system 100 imposes an upwards displacement of the first and second manipulator sheaves 103, 104 with respect to the first and second stationary sheaves 101, 102.
In this example in the second mode the first piston 131 is configured to passively move or push the first and second manipulator sheaves 103, 104 away from the first and second stationary sheaves 101, 102 over a hoisting stroke to reduce the effective length of the hoist cable 40 between the hoist cable fixing point 42 and the hoist block 50 in order to contribute to and increase the upward vertical lifting speed of the hoist block 50.
Therefore the first valve 142 and the second valve 144 are switched into the second state and the second accumulator H is in fluid communication with the first cylinder chamber 116. The gas pressure in the second accumulator H is set such that the upward force of the first piston 131 substantially exceeds the force that is exerted on the first cylinder 110 by the hoist cable 40 resulting from the lifted load. The passively moving of the first and second manipulator sheaves 103, 104 by the first piston 131 can also be considered as temporarily actively moving the first and second manipulator sheaves 103, 104 by the first piston
131 by switching the first valve 142 and the second valve 144 into the second state.
In the second mode the second piston 132 is either configured to passively follow the displacement of the first and second manipulator sheaves 103, 104 with respect to the first and second stationary sheaves 101, 102 in order to influence the first cylinder 110 as little as possible, or to actively move or push the first and second manipulator sheaves 103, 104 away from the first and second stationary sheaves 101, 102 to assist the first cylinder 110 in reducing the effective length of the hoist cable 40 between the hoist cable fixing point 42 and the hoist block 50 in order to contribute to or increase the upward speed of the hoist block 50.
When the second piston 132 is switched to passively follow the displacement of the first and second manipulator sheaves 103, 104, the hydraulic pump 150 is idle and the third valve 154 is in the open position so that the second piston 132 can move within the second barrel 121 unhinderedly. When the second piston 132 is switched to actively push the first and second manipulator sheaves 103, 104, the third valve 154 is in the closed position and the hydraulic pump 150 is active to pump hydraulic oil from the fourth cylinder chamber 127 to the third cylinder chamber 126 in order to push the second piston 132 upwards within the second barrel 121.
It is preferable to, in the second mode, move the first piston 131 over as large a part of the first stroke length Cl as possible, to increase the distance over which the hoist block 50 is moved vertically away from the heaving deck in order to reduce the risk of hitting the heaving deck. Therefore, prior to the start of lifting the load, the first piston 132 of the piston rod 130 is positioned on or near the bottom of the first stroke length
C1 of the first cylinder 110, or average position of the oscillating first piston is set as close to the bottom of the first stroke length as possible in the prevailing sea sate, and therewith the second piston 132 is positioned at, near or close to the bottom of the second stroke length C2 of the second cylinder 120. In the second mode, at the end of boosting of lifting the load, the first piston 132 of the piston rod 130 is positioned at or near the top of the first stroke length Cl of the first cylinder 110, and therewith the second piston 132 is positioned at or near the top of the second stroke length C2 of the second cylinder 120. After the boosting of lifting the load the heave compensation system 100 can be switched to the first mode to compensate the motions of the hoist block 50.
It is preferable to, in the second mode, move the first piston 131 as fast as possible between its extreme positions to increase the speed at which the hoist block 50 is moved vertically away from the heaving deck and therewith reduce the time that the load is near the heaving deck in order to reduce the risk of hitting the heaving deck.
The first pressure of the first accumulator L is between 1 bar and 200 bar, preferably between 5 bar and 200 bar, more preferably at 15 bar. The second pressure of the second accumulator H is between 100 bar and 400 bar, preferably between 200 bar and 300 bar, more preferably 200 bar. The first stroke length Cl, and therefore the second stroke length C2, is between 1 meter and 5 meter, preferably between 2 meter and 4 meter. The maximum moving speed of the first piston 131, and therefore the maximum moving speed of the second piston 132, is between 0,5 meter per second and 2 meter per second, preferably between 1 meter per second and 1,5 meter per second.
It is to be understood that the above description is included to illustrate the operation of the preferred embodiments and is not meant to limit the scope of the invention. From the above discussion, many variations will be apparent to one skilled in the art that would yet be encompassed by the scope of the present invention.

Claims (18)

CONCLUSIESCONCLUSIONS 1. Kraan met een deiningscompensatiesysteen, waarbij de kraan is voorzien van een kraanbasis, een giek die is verbonden met de kraanbasis, een hijskabel die een hijsblok ophangt aan de giek en die aan één eind is verbonden met een hijslier aan de kraanbasis en aan het tegengestelde eind is verbonden met een kabelfixeerpunt aan de kraanbasis, waarbij het deiningscompensatiesysteem is verschaft aan de hijskabel tussen het kabelfixeerpunt en de hijslier, waarbij het deiningscompensatiesysteem is voorzien van een manipulatorsamenstel dat is verbonden met de kraanbasis, een stationaire schijf die roteerbaar is verbonden met de kraanbasis voor het geleiden van de hijskabel, en een manipulatorschijf die roteserbaar is verbonden met het manipulatorsamenstel voor het geleiden van de hijskabel, waarbij de hijskabel is ingeschoren vanaf de hijslier, via het hijsblok, via de stationaire schijf, via de manipulatorschijf, naar het kabelfixeerpunt, waarbij het manipulatorsamenstel is voorzien van een actieve manipulator om de verplaatsing van de manipulatorschijf ten opzichte van de stationaire schijf actief te manipuleren, en een passieve manipulator om de verplaatsing van de manipulatorschijf ten opzichte van de stationaire schijf passief te manipuleren, om de effectieve lengte van de hijskabel tussen het hijskabelfixeerpunt en het hijsblok aan te passen, waarbij de passieve manipulator is voorzien van een eerste vat, een eerste zuiger binnen het eerste vat die een eerste kamer begrenst, een eerste accumulator met een gas op een eerste druk die verbindbaar is met de eerste kamer, en een tweede accumulator met een gas op een hogere tweede druk die verbindbaar is met de eerste kamer, waarbij het deiningscompensatiesysteem schakelbaar is tussen een eerste modus waarin de eerste accumulator in stromende verbinding is met de eerste kamer en de eerste druk op de eerste zuiger werkt, en een tweede modus waarin de tweede accumulator in stromende verbinding is met de eerste kamer en de tweede druk op de eerste zuiger werkt, waarbij in de eerste modus de eerste druk zodanig is ingesteld dat de passieve manipulator ten minste een gedeelte van de kracht compenseert die wordt uitgeoefend op de manipulatorschijf door de hijskabel, en waarbij in de tweede modus de tweede druk zodanig is ingesteld dat de passieve manipulator de manipulatorschijf weg beweegt van de stationaire schijf over een hijsslag om de effectieve lengte van de hijskabel tussen het hijskabelfixeerpunt en het hijsblok te reduceren.1. Crane with a heave compensation system, where the crane is provided with a crane base, a boom connected to the crane base, a hoisting rope suspending a hoisting block from the boom and connected at one end to a hoist winch at the crane base and at the opposite end is connected to a rope fixing point at the crane base, the heave compensation system being provided on the hoist rope between the rope fixing point and the hoist winch, the heave compensation system comprising a manipulator assembly connected to the crane base, a stationary sheave rotatably connected to the crane base for guiding the hoist rope, and a manipulator sheave rotatably connected to the manipulator assembly for guiding the hoist rope, the hoist rope being reeved from the hoist winch, through the hoist block, through the stationary sheave, through the manipulator sheave, to the rope fixation point wherein the manipulator assembly includes an active manipulator for actively manipulating the movement of the manipulator disk relative to the stationary disk, and a passive manipulator for passively manipulating the movement of the manipulator disk relative to the stationary disk, to determine the effective length of the hoist rope between the hoist rope fixation point and the hoist block, the passive manipulator comprising a first vessel, a first piston within the first vessel defining a first chamber, a first accumulator with a gas at a first pressure that is connectable with the first chamber, and a second accumulator with a gas at a higher second pressure connectable to the first chamber, the heave compensation system being switchable between a first mode in which the first accumulator is in flowing communication with the first chamber and the first pressure acting on the first piston, and a second mode in which the second accumulator is in fluid communication with the first chamber and the second pressure acts on the first piston, in the first mode the first pressure being set such that the passive manipulator has at least one compensates for part of the force exerted on the manipulator disk by the hoist rope, and in the second mode the second pressure is set such that the passive manipulator moves the manipulator disk away from the stationary sheave through a hoist stroke to reduce the effective length of the hoist rope between to reduce the lifting rope fixing point and the lifting block. 2. Kraan met een deiningscompensatiesysteem volgens conclusie 1, waarbij in de eerste modus de actieve manipulator ten minste een gedeelte van de bewegingen van de manipulatorschijf ten opzichte van de stationaire schijf die worden veroorzaakt door de hijskabel compenseert, en in de tweede modus de actieve manipulator bijdraagt om de manipulatorschijf weg te bewegen van de stationaire schijf.A crane with a heave compensation system according to claim 1, wherein in the first mode the active manipulator compensates at least part of the movements of the manipulator sheave relative to the stationary sheave caused by the hoist rope, and in the second mode the active manipulator compensates helps to move the manipulator disk away from the stationary disk. 3. Kraan met een deiningscompensatiesysteem volgens conclusie 1 of 2, waarbij de passieve manipulator en de actieve manipulator in serie zijn opgesteld.A crane with a heave compensation system according to claim 1 or 2, wherein the passive manipulator and the active manipulator are arranged in series. 4. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij het manipulatorsamenstel een centrale manipulatoras heeft en een zuigerstang omvat die zich uitstrekt langs de manipulatoras, die beweegbaar is aangebracht in het eerste vat van de passieve manipulator, en die is verbonden met de eerste zuiger om beweegbaar te zijn langs de manipulatoras, waarbij het eerste vat is verbonden met de kraanbasis en de zuigerstang is verbonden met de manipulatorschijf.A crane with a heave compensation system according to any one of the preceding claims, wherein the manipulator assembly has a central manipulator shaft and includes a piston rod extending along the manipulator shaft movably mounted in the first barrel of the passive manipulator and connected to the first piston to be movable along the manipulator axis, with the first barrel connected to the crane base and the piston rod connected to the manipulator disk. 5. Kraan met een deiningscompensatiesysteem volgens conclusie 4, waarbij de actieve manipulator is voorzien van een tweede vat, en een tweede zuiger binnen het tweede vat, waarbij de zuigerstang beweegbaar is aangebracht in het tweede vat van de actieve manipulator, en is verbonden met de tweede zuiger om beweegbaar te zijn langs de manipulatoras, waarbij het manipulatorsamenstel een hydraulische pomp omvat die is geconfigureerd om, in de eerste modus, de positie van de tweede zuiger binnen het tweede vat in te stellen of aan te passen.A crane with a heave compensation system according to claim 4, wherein the active manipulator includes a second barrel, and a second piston within the second barrel, the piston rod being movably mounted in the second barrel of the active manipulator and connected to the second piston to be movable along the manipulator axis, the manipulator assembly including a hydraulic pump configured to, in the first mode, adjust or adjust the position of the second piston within the second vessel. 6. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij het manipulatorsamenstel is voorzien van een eerste klep tussen de eerste accumulator en de eerste kamer, een tweede klep tussen de tweede accumulator en de eerste kamer, waarbij de eerste klep en de tweede klep schakelbaar zijn tussen een open en een gesloten positie, en waarbij de eerste klep en de tweede klep werkzaam zijn om het deiningscompensatiesysteem te schakelen tussen de eerste modus en de tweede modus.A crane with a heave compensation system according to any one of the preceding claims, wherein the manipulator assembly includes a first valve between the first accumulator and the first chamber, a second valve between the second accumulator and the first chamber, the first valve and the second valve being switchable between an open and a closed position, and wherein the first valve and the second valve are operable to switch the heave compensation system between the first mode and the second mode. 7. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij het manipulatorsamenstel een gaspomp omvat die in stromende verbinding is met de eerste accumulator en/of de tweede accumulator, waarbij de gaspomp werkzaam is om de druk van het gas in de eerste accumulator in te stellen of aan te passen en/of om de druk van het gas in de tweede accumulator in te stellen of aan te passen.A crane with a heave compensation system according to any one of the preceding claims, wherein the manipulator assembly comprises a gas pump in fluid communication with the first accumulator and/or the second accumulator, the gas pump being operable to adjust the pressure of the gas in the first accumulator. to set or adjust and/or to set or adjust the pressure of the gas in the second accumulator. 8. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij het deiningscompensatiesysteem meerdere stationaire schijven en/of meerdere manipulatorschijven omvat, waarbij de hijskabel meerdere keren is ingeschoren tussen de stationaire schijven en/of de manipulatorschijven.8. Crane with a heave compensation system as claimed in any of the foregoing claims, wherein the heave compensation system comprises a plurality of stationary sheaves and/or a plurality of manipulator sheaves, wherein the hoisting cable is reeved several times between the stationary sheaves and/or the manipulator sheaves. 9. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij de eerste druk van de eerste accumulator tussen 1 bar en 200 bar, bij voorkeur tussen 5 bar en 200 bar, meer bij voorkeur 15 bar is.Crane with a heave compensation system according to any one of the preceding claims, wherein the first pressure of the first accumulator is between 1 bar and 200 bar, preferably between 5 bar and 200 bar, more preferably 15 bar. 10. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij de tweede druk van de tweede accumulator tussen 100 bar en 400 bar, bij voorkeur tussen 200 bar en 300 bar, meer bij voorkeur 200 bar is.Crane with a heave compensation system according to any one of the preceding claims, wherein the second pressure of the second accumulator is between 100 bar and 400 bar, preferably between 200 bar and 300 bar, more preferably 200 bar. 11. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij de eerste manipulator een eerste slaglengte voor de manipulatorschijf heeft die tussen 1 meter en 5 meter, bij voorkeur tussen 2 meter en 4 meter is.A crane with a heave compensation system according to any one of the preceding claims, wherein the first manipulator has a first stroke length for the manipulator sheave that is between 1 meter and 5 metres, preferably between 2 meters and 4 metres. 12. Kraan met een deiningscompensatiesysteem volgens conclusie 11, waarbij de tweede manipulator een tweede slaglengte voor de manipulatorschijf heeft die gelijk is aan de eerste slaglengte.A crane with a heave compensation system according to claim 11, wherein the second manipulator has a second stroke length for the manipulator disk equal to the first stroke length. 13. Kraan met een deiningscompensatiesysteem volgens één der voorgaande conclusies, waarbij de maximum beweegsnelheid van de eerste zuiger tussen 0,5 meter per seconde en 2 meter per seconde, bij voorkeur tussen 1 meter per seconde en 1,5 meter per seconde is.A crane with a heave compensation system according to any one of the preceding claims, wherein the maximum moving speed of the first piston is between 0.5 meters per second and 2 meters per second, preferably between 1 meter per second and 1.5 meters per second. 14. Deiningscompensatiesysteem voor gebruik in een kraan volgens één der voorgaande conclusies, waarbij het deiningscompensatiesysteem is voorzien van een manipulatorsamenstel, een stationaire schijf voor het geleiden van de hijskabel, en een manipulatorschijf voor het geleiden van de hijskabel, waarbij een hijskabel van het samenstel of de kraan is ingeschoren via de stationaire schijf en via de manipulatorschijf, waarbij het manipuleersamenstel is voorzien van een actieve manipulator om de verplaatsing van de manipulatorschijf ten opzichte van de stationaire schijf actief te manipuleren, en een passieve manipulator om de verplaatsing van de manipulatorschijf ten opzichte van de stationaire schijf passief te manipuleren, om de effectieve lengte van de hijskabel aan te passen, waarbij de passieve manipulator is voorzien van een eerste kamer, een eerste accumulator op een eerste druk die verbindbaar is met de eerste kamer, en een tweede accumulator op een hogere tweede druk die verbindbaar is met de eerste kamer, waarbij het deiningscompensatiesysteem schakelbaar is tussen een eerste modus waarin de eerste accumulator in stromende verbinding is met de eerste kamer, en een tweede modus waarin de tweede accumulator in stromende verbinding is met de eerste kamer, waarbij in de eerste modus de eerste druk zodanig is ingesteld dat de passieve manipulator ten minste een gedeelte van de kracht compenseert die wordt uitgeoefend op de manipulatorschijf door de hijskabel, en waarbij in de tweede modus de tweede druk zodanig is ingesteld dat de passieve manipulator de manipulatorschijf weg beweegt van de stationaire schijf over een hijsslag om de effectieve lengte van de hijskabel te reduceren.A heave compensation system for use in a crane according to any one of the preceding claims, wherein the heave compensation system comprises a manipulator assembly, a stationary sheave for guiding the hoist rope, and a manipulator sheave for guiding the hoist rope, wherein a hoist rope of the assembly or the crane is reeved through the stationary disk and through the manipulator disk, the manipulator assembly comprising an active manipulator for actively manipulating the movement of the manipulator disk relative to the stationary disk, and a passive manipulator for controlling the movement of the manipulator disk relative to of the stationary sheave, to adjust the effective length of the hoist rope, the passive manipulator comprising a first chamber, a first accumulator at a first pressure connectable to the first chamber, and a second accumulator at a higher second pressure connectable to the first chamber, wherein the heave compensation system is switchable between a first mode in which the first accumulator is in flowing communication with the first chamber, and a second mode in which the second accumulator is in flowing communication with the first chamber , wherein in the first mode the first pressure is set such that the passive manipulator compensates at least a portion of the force exerted on the manipulator sheave by the hoist rope, and in the second mode the second pressure is set such that the passive manipulator the manipulator sheave moves away from the stationary sheave by one hoist stroke to reduce the effective length of the hoist rope. 15. Vaartuig dat een romp, en een kraan volgens één der conclusies 1-13 die met de kraanbasis daarvan is aangebracht op de romp omvat.A vessel comprising a hull, and a crane according to any one of claims 1-13 mounted with its crane base on the hull. 16. Werkwijze voor het bedienen van een kraan met een deiningssysteem, waarbij de kraan is voorzien van een kraanbasis, een giek die is verbonden met de kraanbasis, een hijskabel die een hijsblok ophangt aan de giek en die aan één eind is verbonden met een hijslier aan de kraanbasis en aan het tegengestelde eind is verbonden met een kabelfixeerpunt aan de kraanbasis, waarbij het deiningscompensatiesysteem is verschaft aan de hijskabel tussen het kabelfixeerpunt en de hijslier, waarbij het deiningscompensatiesysteem is voorzien van een manipulatorsamenstel dat is verbonden met de kraanbasis, een stationaire schijf die roteerbaar is verbonden met de kraanbasis voor het geleiden van de hijskabel, en een manipulatorschijf die roteeerbaar is verbonden met het manipulatorsamenstel voor het geleiden van de hijskabel, waarbij de hijskabel is ingeschoren vanaf de hijslier, via het hijsblok, via de stationaire schijf, via de manipulatorschijf, naar het kabelfixeerpunt, waarbij het manipuleersamenstel is voorzien van een actieve manipulator om de verplaatsing van de manipulatorschijf ten opzichte van de stationaire schijf actief te manipuleren, en een passieve manipulator om de verplaatsing van de manipulatorschijf ten opzichte van de stationaire schijf passief te manipuleren, om de effectieve lengte van de hijskabel tussen het hijskabelfixeerpunt en het hijsblok aan te passen, waarbij de passieve manipulator is voorzien van een eerste vat, een eerste zuiger binnen het eerste vat die een eerste kamer begrenst, een eerste accumulator met een gas op een eerste druk die verbindbaar is met de eerste kamer, en een tweede accumulator met een gas op een hogere tweede druk die verbindbaar is met de eerste kamer, waarbij het deiningscompensatiesysteem schakelbaar is tussen een eerste modus waarin de eerste accumulator in stromende verbinding is met de eerste kamer en de eerste druk op de eerste zuiger werkt, en een tweede modus waarin de tweede accumulator in stromende verbinding is met de eerste kamer en de tweede druk op de eerste zuiger werkt, waarbij in de eerste modus de eerste druk zodanig is ingesteld dat de passieve manipulator ten minste een gedeelte van de kracht compenseert die wordt uitgeoefend op de manipulatorschijf door de hijskabel, en waarbij in de tweede modus de tweede druk zodanig is ingesteld dat de passieve manipulator de manipulatorschijf weg beweegt van de stationaire schijf over een hijsslag om de effectieve lengte van de hijskabel tussen het hijskabelfixeerpunt en het hijsblok te reduceren, waarbij de werkwijze de stappen omvat van het met het deiningscompensatiesysteem in de eerste modus hijsen van een lading met de kraan, het schakelen van het deiningscompensatiesysteem van de eerste modus naar de tweede modus, het met het deiningscompensatiesysteem in de tweede modus hijsen van de lading met de kraan.16. A method of operating a crane with a swell system, the crane having a crane base, a boom connected to the crane base, a hoist rope suspending a hoist block from the boom and connected at one end to a hoist winch connected at the crane base and at the opposite end to a rope fixing point on the crane base, the heave compensation system being provided on the hoist rope between the rope fixing point and the hoist winch, the heave compensation system comprising a manipulator assembly connected to the crane base, a stationary sheave rotatably connected to the crane base for guiding the hoist rope, and a manipulator sheave rotatably connected to the manipulator assembly for guiding the hoist rope, the hoist rope being reeved from the hoist winch, through the hoist block, through the stationary sheave, through the manipulator disk, to the cable fixation point, the manipulator assembly comprising an active manipulator for actively manipulating the movement of the manipulator disk relative to the stationary disk, and a passive manipulator for passively controlling the movement of the manipulator disk relative to the stationary disk manipulate, to adjust the effective length of the hoist rope between the hoist rope fixation point and the hoist block, the passive manipulator comprising a first barrel, a first piston within the first barrel defining a first chamber, a first accumulator having a gas at a first pressure connectable to the first chamber, and a second accumulator with a gas at a higher second pressure connectable to the first chamber, the swell compensation system being switchable between a first mode in which the first accumulator is in flowing communication with the first chamber and the first pressure acts on the first piston, and a second mode in which the second accumulator is in flowing communication with the first chamber and the second pressure acts on the first piston, wherein in the first mode the first pressure is set such that the passive manipulator compensates for at least a portion of the force exerted on the manipulator disk by the hoist rope, and in the second mode the second pressure is set such that the passive manipulator moves the manipulator disk away from the stationary disk one hoist stroke to reduce effective length of the hoist rope between the hoist rope fixing point and the hoist block, the method comprising the steps of lifting a load with the heave compensation system in the first mode by crane, switching the heave compensation system from the first mode to the second mode , lifting the load with the crane using the heave compensation system in the second mode. 17. Werkwijze volgens conclusie 16, waarbij het manipulatorsamenstel is voorzien van een eerste klep tussen de eerste accumulator en de eerste kamer, een tweede klep tussen de tweede accumulator en de eerste kamer, waarbij de eerste klep en de tweede klep schakelbaar zijn tussen een open en een gesloten positie, en waarbij de eerste klep en de tweede klep werkzaam zijn om het deiningscompensatiesysteem te schakelen tussen de eerste modus en de tweede modus, waarbij de stap van het schakelen van het deiningscompensatiesysteem van de eerste modus naar de tweede modus het schakelen omvat van de eerste klep vanaf de open positie naar de gesloten positie en het schakelen omvat van de tweede klep vanaf de gesloten positie naar de open positie.The method of claim 16, wherein the manipulator assembly includes a first valve between the first accumulator and the first chamber, a second valve between the second accumulator and the first chamber, the first valve and the second valve being switchable between an open and a closed position, and wherein the first valve and the second valve are operable to switch the heave compensation system between the first mode and the second mode, the step of switching the heave compensation system from the first mode to the second mode comprising switching of the first valve from the open position to the closed position and includes switching the second valve from the closed position to the open position. 18. Werkwijze volgens conclusie 16 of 17, waarbij het manipulatorsamenstel een gaspomp omvat die in stromende verbinding is met de eerste accumulator en/of de tweede accumulator, waarbij de gaspomp werkzaam is om de druk van het gas in de eerste accumulator in te stellen of aan te passen en/of om de druk van het gas in de tweede accumulator in te stellen of aan te passen, waarbij de werkwijze het instellen omvat van de druk van het gas in de eerste accumulator door de gaspomp en/of het instellen omvat van de druk van het gas in de tweede accumulator door de gaspomp. -070-0-0-0-0-0-0-The method of claim 16 or 17, wherein the manipulator assembly comprises a gas pump in fluid communication with the first accumulator and/or the second accumulator, the gas pump being operable to adjust or adjust the pressure of the gas in the first accumulator. and/or to adjust or adjust the pressure of the gas in the second accumulator, the method comprising adjusting the pressure of the gas in the first accumulator by the gas pump and/or adjusting the pressure of the gas in the second accumulator by the gas pump. -070-0-0-0-0-0-0-
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4268013A (en) * 1978-06-12 1981-05-19 Nl Industries, Inc. Crane motion compensator
EP3018087A1 (en) * 2009-09-18 2016-05-11 Itrec B.V. Hoisting device
US20190135589A1 (en) * 2016-05-03 2019-05-09 Hycom B.V. Compensating device for maintaining specifiable target positions of a handheld load

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4268013A (en) * 1978-06-12 1981-05-19 Nl Industries, Inc. Crane motion compensator
EP3018087A1 (en) * 2009-09-18 2016-05-11 Itrec B.V. Hoisting device
US20190135589A1 (en) * 2016-05-03 2019-05-09 Hycom B.V. Compensating device for maintaining specifiable target positions of a handheld load

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