NO20151817A1

NO20151817A1 - 3D motion-compensated lifting assembly for cranes

Info

Publication number: NO20151817A1
Application number: NO20151817A
Authority: NO
Inventors: Tormod Harald Olsen
Original assignee: Van Aalst Group B V
Priority date: 2015-12-18
Filing date: 2015-12-18
Publication date: 2017-06-19
Also published as: EP3390265B1; WO2017103139A1; EP3390265A1; NO343528B1

Description

3D motton-compenuted lifting assembly for crams The present Inventlon is related to a 3D motion-compensated lifting assembly for cranes, according to the preamble of claim 1.

The present Inventlon Is especially related to a 3D motion-compensated lifting assembly for offshore cranes, designed to be arranged to a tlp of the crane. Especially the present Inventlon Is designed to accommodate the Installatlon and maintenance of offshore wind turblnes and belng arranged to standard cranes, especially knuckle jlb deck cranes, on a vessel, barge or seagoing craft perfbrmlng such operatlons.

Background

In connection wlth crane operatlons In maritime/offshore environments, l.e. cranes arranged on maritime vessel, barges or other seagoing crafts, there Is a need for compensation of the movements of the vessel, barge or craft, as otherwise the crane will follow the movements of the vessel, barge or craft, and accordingly result In Inaccurate controlllng of the load and accordingly an unsecure lifting operatlons.

There have been several attempts on solving this problem In prior art.

From US4021019 (British Columbia Research Counell) It Is known a crane for shlps håving a telescopic boom pivotally mounted for achleving heave compensation.

US2009232625 Al (Benjamin M. Almeda) descrlbes a crane with heave compensation whkh is achieved by controlllng of a wlnch.

In US8235231 B2 (Uebherr-Werk Nenzlng GmbH) is disclosed a further example of a crane belng controlled by active heave compensation.

US7044314 B2 (Virginia Tech Intellectual Properties) is generally related to a control system and method for controlllng dynamical systems and especially a control system for redudng cargo pendulatlon ln cranes on vessels.

The prior art solutlons have drawbacks by that they only try to sohw the problem by compensatlng for movement ln one directlon, and malnly as active heave compensation (Y-direction). In maritime/offshore lifting operations, movements In the other dlrections (X- and Z-dlrecttons) wlll abo affect the load ln lifting operatlons. Accordingly, prior art falls to sohre the problems of maritime/offshore lifting operatlons.

There have been made some attempts to provlde a 3D-solution where the crane Is arranged on a movable platform, somethlng which will result In that the entire crane wlll move and affect the entire vessel wlth moment of Inertla. Thls solutlon Is however is also expenslve.

Accordingly there Is a need for a fully (30) motion-compensated lifting assembly for offshore/maritime cranes, which also is capable of compensating for pendulatlon.

Object

The main object of the present inventlon Is to provlde a 30 motion-compensated lifting assembly for a crane partly or entirely solving the drawbacks of prior art.

It is further an object of the present Inventlon to provlde a 3D motion-compensated lifting assembly for a crane that provides a fully motion-compensatlon ln all three dlrectlons, Z, X and Y.

A further object of the present Inventlon is to provlde a 3D motion-compensated lifting assembly for a crane which can be used for botn exlstlng maritime/offshore cranes and new maritime/offshore cranes.

An object of the present Inventlon Is to provlde a 3D motion-compensated lifting assembly induding all features necessary for achlevlng full 3D motion-compensatlon. Le. the assembly belng self-supplied.

H b further an object of the present Inventlon to provlde a 3D motion-compensated lifting assembly for a crane which provlde efficlent and accurate offshore load handling.

An object of the present inventlon Is to provlde a 3D motion-compensated lifting assembly for a crane which provides the crane with good operation capabilltles under rough operation condltlons, especially low pendulum height under offshore lifting operations.

It is further an object of the present Inventlon to provide a 3D motion-compensated lifting assembly capable of compensating ln all three dlrectlons Z, X and Y for movements of a vessel, barge or seagoing craft the crane is arranged on.

Another object of the present Inventlon Is to provlde a 3D motion-compensated lifting assembly redudng the energy consumptlon, compared to prior art solutions.

Further object* of the present inventlon wlll appear when considering the following descrlptlon, claims and drawings. ;The inventlon ;A 3D motion-compensated lifting assembly for a crane b described in clalm 1. Preferable features of the 30 motion-compensated lifting assembly are described ln the dependent claims. ;The present Inventlon b based on a prior art (standard) crane, e.g. cranes known as a knuokle jlb deck cranes, l.e. a crane håving a lower arm and an elbow arm arranged at distal end of the tower arm, and provides a 3D motion-compensated lifting assembly to be arranged to a distal end of the Hbow arm, providing a reliable, long time operation and stowing in a tough and corrosrve offshore marine environment. ;ln general, a crane with the 3D motion-compensated lifting assembly according to the present Inventlon will be designed with major structural and mechanical overcapaclty for offshore/wlnd turbine operation on open deck of offshore vessels and for safe stowing on aft deck of such vessels. ;A crane with the 3D motion-compensated lifting assembly according to the present inventlon wlll be designed with a general crane dynamic factor allowing for offshore/wlnd turbine operatlons In accordance with current regulatlons. ;The 3D motion-compensated lifting assembly according to the present Inventlon provides compensation of movement ln all three dlrectlons Z, X and Y, caused by the movement of the vessel in roll, pitch and yaw (heave). ;The 3D motion-compensated lifting assembly according to the present inventlon includes a connection assembly which b designed for arrangement to the distal end of the elbow arm of the crane. ;The connection assembly Is further preferabfy provided with a movable (tlltable) Interface In vertical direction In relation to the elbow arm. ;The 3D motion-compensated lifting assembly according to the present inventlon further indudes a telescopic boom which is arranged to the connection assembly. The connection assembly is further arranged with a rotational interface enabllng rotatkm of the telescopic boom in relatkm to the elbow arm. ;Further, the telescopic boom is preferabfy further arranged movably (tikable) in the vertical direction in relation to the connection assembly. ;The 3D motion-compensated lifting assembly according to the present Inventlon is further provided with a winch with full AHC (active heave compensation) compensation to pay out and reel in load wire via a guide sheave arranged at front end of the telescopic boom and the winch being arranged at rear end of the telescopic boom. ;The 3D motion-compensated lifting assembly according to the present invention will among others be controlled based on input from a motion reference unk (MRU) or simllar, informlng about the movements of the vessel, barge or craft the crane is arranged on, hereinafter refemed to as vessel. ;Based on Information about movements of the vessel, the 3D motion-compensated lifting assembly according to the present invention is arranged for compensation of the movements experienced by the crane and accordingly the load being handled by the crane in the dimensjons Z, X and V by: - Extending and retractlng the telescopic boom enable compensation in the Z-directton in the reference trame of the crane (roll motion of the vessel, ln the reference fra me of the vessel), - Rotation of the telescopic boom enable compensation in the X-dlrectlon In the reference frame of the crane (pitch motion of the vessel. In the reference frame of the vessel), - Controlllng the winch enable compensation in the Y-direction in the reference frame of the crane (yaw (heave) motion of the vessel, in the reference frame of the vessel). ;Accordingly, the 3D motion-compensated lifting assembly according to the present Invention provides fully motion-compensatlon in all three directkms Z, X and Y direction, in the reference frame of the crane, in relation to the movements of the vessel. ;The 3D motion-compensated lifting assembly according to the present invention further provides, by that the telescopic boom Is movable (tikable) in vertical direction in relation to the connection assembly and that the connection assembly b movable (tikable) in vertical direction in relation to the elbow arm, that the pendulation of the load can be controlled so that the load b not allowed to swing freety. ;Further, by arranging a posttion reference sensor on an offshore structure/wind turbine and a posttion reference sensor recerver on the crane/3D motion-compensated lifting assembly the controlling of the 3D motion-compensated IMtlng assembly can be further enhanced. ;Accordingly, the present invention provides a crane with a 3D motion-compensated lifting assembly according to the present invention which b designed for efficient and accurate offshore/wind turbine load handling of general cargo and wind turbine cargo at specaled load curves. The geometry of the crane wkh the 3D motion-compensated lifting assembly provides good operation capabllkles under rough operation conditions (low pendukim height under offshore lifting operatkins). ;Further, a crane with a 3D motion-compensated lifting assembly according to the present invention provides a crane belng able to launch and retrleve loads at a wind turbine platform, with practical no relative heave motion on the load relative the wind turbine platform. ;A crane wkh the 3D motion-compensated lifting assembly according to the present Inventlon wlll have the flexibilky/ability to operate in wave heights as high as Hs 2.5 m resuking in that the operation can continue even k* the weather wlndow deteriorate under a operation.

Accordingly, the present invention provides a 3D motion-compensated lifting assembly which enables the telescopic boom tip to be 'locked' in relation to the wind turbine platform and by means of controlling the 3D motion-compensated lifting assembly compensate for motions of the vessel and keep the load steady.

Further, by the present invention b achieved a 30 motion-compensated lifting assembly which Increases vessel operabllky, b more cost-effectrve in relation to prior art, and can be used In harsher weather conditions compared to prior art solutions.

Further, by the 30 motion-compensated lifting assembly according to the present Inventlon botn exlsting (standard) cranes and new cranes In the offshore wind industry and the oll and gas markets can be 3D motion compensated in a simple manner by arranging k to the tip of the crane.Further, the 3D motton-compensated lifting assembly according to the present inventlon can be used by cranes not provided wtth a winch arrangement to enable winch features.

Further, the 3D-motion-compensated lifting assembly can be arranged to the crane so that it can operate above the horlzontal plane of the crane tip or arranged to the crane so that it can operate under the horizontal plane of the crane tip.

Further prererabre features and advantageous detaNs of the present Inventlon wfN appear from the f ollowlng example description.

Example

The present invention will below be described in further detail with references to the attached drawing, where:

Figure 1 ts a principle drawing of a crane of prior art,

Figures 2a-c show principle drawlngs of a 3D motion-compensated lifting assembly according to the present invention, Figures 3a-c show principle drawlngs of a 3D motion-compensated lifting assembly according to the present invention arranged to a standard offshore orane, Figure 4 Is a block diagram of a control system for controlling the 3D motion-compensated lifting assembly according to the present Invention, andFigure 5 is a principle drawing of a modlfication of the 3D motion-compensated lifting assembly according to the present invention.

Reference is now made to Figure1whkh Is a principle drawing of an offshore crane 101, in the form of a knuckle Jib deck crane, according to prior art. The crane 101 has a base stnicture 102 form ed by a base platform 103 mounted on the upper end of a rotatabkt pedestal 104 arranged to a corresponding structure on a vessel (not shown) or similar. The pedestal 104 allows the crane 101 to be rotated about the pedestal 104 by a rotational drive system, which Is well known in prior art and needs no further description hereln.

The crane 101 further Indudes a taver arm 110 håving a lower end pivotalfy mounted on spaced-apart mountlng ears 111 extending upwardfy from pedestal 104. The arm 110 can be ra bed and lowered by actuatlon of hydraulic cylinders 112 håving their lower ends arranged to the pedestal 104 and their upper ends arranged to an intermedlate location along the length of the arm 110.

The crane 101 abo Indudes an upper elbow arm 120 håving a lower end arranged to the upper end portion of the lower arm 110. The upper elbow arm 120 b pivotalfy connected relative to the lower arm 110 by hydraulic cylinders 121 håving lower end portlons pivotalfy arranged to an Intermedlate location aking the lower arm 120 and upper end port ions pivotalfy arranged an intermediate location along the length of the upper elbow arm 120.

Operation of the hydraulic cylinders 112 and 121 enables the crane 101 to be raised and lowered as well as to be extended and retracted.

The crane 101 further Indudes a main load winch 130 mounted on the lower end portion of arm 110 or the base 103 to pay out or reel in a main load wire 131 which b wound about a spool 132. A hook 133 b attached to the distal end of the wire 131. Between the spool 132 and hook 133, the wire 131 extends over a guide sheave 134 mounted on the dbtal end of arm 110, a further guide sheave 135 mounted on the lower or proximal end of elbow arm 120, and a distal sheave 136 mounted on the dbtal end portion of the elbow arm 120.

Even rf the winch 130 b active heave compensated thb will not provlde a fulry 3D motion-compensated solution.

Reference Is now made to Flgures 2a-c showing prindple drawings of a 3D motion-compensated lifting assembfy 200 for a crane 101 according to the present Inventlon.

The 3D motion-compensated lifting assembly 200 indudes three main components in the form of a connection assembfy 300, a telescopic boom 400 arranged to the connection assembly 300, and winch 500 arranged to the telescopic boom400.

The connection assembfy 300 is form ed by an arm connection devfce 310 adapted for arrangement to the dbtal end of the elbow arm 120, repladng the distal sheave 136 In Figure 1. The connection assembfy 300 further indudes a boom connection devlce 320 for arrangement to the telescopic boom 400. The boom connection devfce 320 b pivotabfy arranged to the telescoping boom 400 via ears 321 arranged at lower side of the telescopic boom 400. The connection assembly further indudes an Intermedlate connection device 330 connecting the arm connection device 310 md boom connection device 320. The Intermediate connection device 330 is arranged with a rotational interface 331 between the boom connection device 320 and the arm connection device 310 so that the telescopic boom 400 can be rotated in relation to the elbow arm 120. The rotational interface 331 can be achieved as shown In the example by a slewing ring 332 with at least one slewing gear drive 333 or at least one linear actuator 334 (as shown In Figure 2c), such as a hydraulic cyllnder, providlng a rotational movement of respectlve parts In relation to each other.

The telescopic boom 400 is further arranged movable (tiltable) in vertical direction In relation to the boom connection device 320 by at least one linear actuator 322, such as a hydraulic cylinder, håving upper end portions pivotally arranged to an intermediate location 323 along the telescopic boom 400 and lower end portions pivotally arranged an intermediate location along the length of the Intermediate connection device 330.

The arm connection device 310 is further arranged movable in relation to the Intermediate connection device 330 by that the arm connection device 310 at upper side thereof is pinned to lower side of the intermedlate connection device 330, and the lower side of the arm connection device 310 is arranged to the other side (preferably pos rt ton ed some doser to the rotational interface 331) of the Intermedlate connection device 330 by means of two links 311 and 312, and wherein at least one linear actuator 313, such as a hydraulic cylinder, with is lower end portions pivotally arranged to the link 311 and the upper end portions of the linear actuator 313 is arranged to the pinned connection between the upper side of the arm connection device 310 and the lower side of the Intermediate connection device 330.

ln thks way the telescopic boom 400 and Intermediate connection device 330 are movable (tiltable) in relation to the arm connection device 310.

Thetelescopic boom 400 is form ed by two paralleltelescopic beams 401 and 402 with a given distance between them and ftxed to each other at botn ends, w he re each telescopic beam 401, 402 are formed by an outer hollow beam 401a and 402a, respectivery, and an Inner hollow beam 401b, 402b, respectivery, arranged movable in the outer hollow beam 401a, 402a, respectivery, wherein the Inner hollow beams 401b, 402b are arranged to each other at the free end by a holder device 403 for a guide sheave 404. It Is further arranged a linear actuator 405, such as a hydraulic cylinder, arranged between the rear end of the telescopic boom 400 and the holder device 403, thus extendlng between the outer hollow beams 401a, 402a for extending and retracting the telescopic boom 400, i.e. movlng the Inner hollow beams 401b, 402b and thus moving the guide sheave 404 ln longitudinal direction of the telescopic boom 400.

To the upper part of the telescopic boom 400, at the rear end thereof, the mentloned winch 500 is arranged to pay out or reel In a load wire 501 which is wound about a spool 502. A hook 503 is attached to the dbtal end of the wire 501. Between the spool 502 and hook 503, the wire 501 extends over the guide sheave 404 mounted on the dbtal end of telescopic boom 400. It b further preferably arranged guide elements 406 at upper side of the telescopic boom 400 guiding the wire 501 from the winch 500 and to the guide sheave 404. The winch 500 b preferabfy a winch with full AHC (active heave compensation) compensation.

Further, the 3D motion-compensated lifting assembly 200 b preferabfy provided with a power and control unit 600, e.g. hydraulic reservolr, vafves, hydraulic lines and hydraulic pump(s) for suppfying and controlling the hydraulic cylinders with hydraulic fluid. In connection with the power source 600 can further be arranged a control unit for controlllng each of the hydraulic cylinders and the winch 500. The power and control unit 600 will be provided with an interface (wireless or wired) to a crane control system 700, further described below.

Accordingfy, seen in the reference frame of the crane 101, the telescopic boom 400 can be extended and retracted for compensating for yaw (heave) movement of the vessel, barge or craft affecting the crane101 in the Z direction in the reference frame of the crane 101.

Further, the rotation of the telescopic boom 400 in relation to the arm connection 310 can be used for compensating for pitch movement of the vessel, barge or craft affecting the crane 101 In the X direction, in the reference frame of the crane 101.

Further, the winch 500 with full AHC (active heave compensation) compensation can be used for compensating for roll movement of the vessel, barge or craft affecting the crane 101 In Y direction. In the reference frame of the crane 101.

Accordingfy, by the 30 motion-compensated lifting assembfy 200 according to the present invention the crane b fully compensated in all 3 directions, Z, X and Y direction.

In addltion, by that the telescopic boom 400 b tiltable In vertical direction in relation to the Intermediate connection device 330 by the linear actuator 322 and that the Intermediate connection device 330 b tiltable in vertical direction by the linear actuator 313 ln relation to the arm connection device 310/elbow arm 120, the pendulatlon of a load can be controlled so that the load b not allowed to swing freefy.

In Flgures 3a-c the above described 3D motion-compensated lifting assembly 200 Is shown arranged to a crane 101. Accordingly, with the present invention in the form of the novel 3D motion-compensated lifting assembly 200, the 3D motion-compensated lifting assembly 200 b provided with a winch 500, resulting in that the main winch 130, wire 131 and guide sheaves 134-133 are not requested for the crane 101, as the functionalrty of these are already present in the 3D motion-compensated lifting assembly 200. However In most cases, the owner will usualfy like to have botn these possibilities.

Further, the elbow arm 120 will preferabfy have an interface to combine efther 3D motion-compensated lifting assembfy 200 or a complete derrick head with two guide sheaves 134-135, so that ff the3D motion-compensated lifting assembfy 200 needs maintenance the 3D motion-compensated Ifftlng assembfy 200 can easlfy be removed and the derrick head replaced. The derrick head will typicalfy be connected by a single wire to an AHC controlled winch placed on the top of the elbow boom or as shown In Figure 1 a winch 130 arranged the base of the crane 101.

Figure 3a shows the 3D motion-compensated lifting assembfy 200 arranged to the crane 101 and where the 3D motion-compensated lifting assembfy 200 (and crane 101) b in working positlon and ready to handle a load.

In Figure 3b it b shown a situation where the crane 101 with the 3D motion-compensated lifting assembfy 200 b set in a stowed position, showing that the crane 101 with a 3D motion-compensated lifting assembfy 200 will take minimum space on a deck of a vessel. Due to the properties and movability of the 3D motion-compensated lifting assembfy 200 thb will not require more space on the vessel than a crane101without such alifting assembly20O.ln

Figure 3c It b shown a typlcal area of use of the present invention, where the crane 101 with the3D motion-compensated lifting assembfy 200 b arranged on a vessel 800 and performing a lifting operation In relation to a wind turbine platform 811 of a windturbine 810 (onfy parts of the wind turbine b shown).

It should further be noted that the 3D motion-compensated lifting assembfy 200 will ertend the lifting range of the crane 101 botn In vertical direction and horisontal direction, as can be seen in e.g. Figure 3c rt should further tie mentioned that the arm connection device 310 Is preferably adapted such that the 3D motion-compensated lifting assembfy 200 can be arranged botn as shown ln the Figures, accordingfy operating In a plane above the distal end of the elbow arm 120, and tumed upslde down so that the 30 motion-compensated lifting assembfy 200 opera tes in a plane bdow the distal end of the elbow arm 120.

Reference Is now made to Figure 4 showing a btodc diagram of a crane control system for controlling the orane 101.

By arranging a position reference sensor on a wind turbine platform 811 a crane operation Is to be performed In relation to, and a position reference sensor necefver on the crane 101/lifting assembfy 200, a more rapid lifting operation can be achieved, but this is not necessary for the present invention to be used.

The vessel, barge or seagoing craft movements are typlcalfy measured by a MRU (motion reference unft) provlding Information about the vessel, barge or seagoing craft movements in roll, pitch and yaw for the reference frame of the vessel, barge or seagoing craft.

By a crane control system the measured movements of the vessel, craft or barge are transformed into the reference frame of the crane 101 and the necessary compensation to counteract these movements are calculated. Thb resufts In settings for the power and control unit 600 for the 3D motion-compensated lifting assembfy 200 which by controlllng the winch 500 achleves heave compensation, controlllng the rotatlon of the telescopic boom 400 achieves compensation for movements affecting the crane 101 in X-dinection, and by controlling the extension and ret raet ion of the telescopic boom 400 achleves compensation for movements affecting the crane 101 ln Z-dlrectlon.

By uslng the position reference sensor, the crane can be operated ln normal operation to the crane tip fs posltloned in the vidntty of the area where the load is, whereupon the load is picked up and the compensation system actfvated. The present inventlon wtll then hold the load stable In relation to the vessel, barge or craft.

The use of the present invention can further be Improved by arranging a proxlmtty sensor on the structure of the wind turtalne 810 or similar a crane operation is to be performed in relation to, for preventing the 3D motion-compensated lifting assembfy 200 for colliding with the structure. The control system can, based on Information from the pnnimity sensor be arranged to control the 3D motion-compensated lifting assembly 200 to a safe position at danger for colfcion.

Modlfkattons

The present Inventlon can be modtfled by providlng the telescopic boom 400 with a vertical telescopic boom 900 hlnged at lower side of the telescopic boom 400, at rear side thereof, and provided with an eve 901 at the distal end, through which the wire 501 runs. ln this way the vertical telescopic boom 900 wlll be able to compensate for pendulatlon, and extend and retract with the wire belng reeled In or out as shown in Figure 5 (In Figure 5 detaits of the 3D motion-compensated lifting assembly 200 is omltted for slmpllfication of the modificatlon prindple). When the wire 501 is reeled out the vertical telescopic boom 900 will extend and when the wire is reeled In the vertical telescopic boom 900 wlll retract, accordingly, adaptlng to the length of the wire 501 and provlde a self-adjusting compensation means for pendulation.

Further modlficatlons wKhin the scope of the daims will be apparent for a skilled person considering the description and drawings.

Claims

1.30 motion-compensated lifting assembfy (200) for a crane (101) arranged on a vessel, barge or seagoing craft, the crane (101) Including a lower arm (110) and upper elbow arm (120), charactarfaed ln that the 3D motion-compensated lifting assembfy (200) indudes: - a connection assembfy (300) adapted for arrangement to a distal end of the elbow arm (120), wherein the connection assembly (300) exhibfts a rotational interface (331), - a telescopic boom (400) arranged to the rotational interface (331) of the connection assembly (300), and - a winch (500) wfth active heave compensation arranged to the telescopic boom (400), wherein the rotational interface (331) enable motion-compensatlon in X-direction in reference frame of the orane (101), retractlon and extenslon of the telescopic boom (400) enable motlon-compensation in Z-dlrectlon in reference frame of the crane (101), and the winch (500) with active heave compensation enable motion compensation In Y-dlrection in reference frame of the crane (101) in relation to movements of the vessel, barge or seagoing craft.

2. 3D motion-compensated lifting assembfy (200) according to daim 1, charaeterized in that the connection assembfy (300) is arranged tiltable in vertical direction ln relation to the elbow arm (120).

3. 3D motion-compensated lifting assembfy (200) according to daim 1, dwacterbed In that the telescopic boom (400) is arranged tiltable in vertical direction in relation to the connection assembfy (300). 4.3D motion-compensated lifting assembfy (200) according to claims 1-3, cha ra ete ri zed in that the connection assembfy (300) indudes an arm connection device (310) for arrangement to elbow arm (120).

4.30 motion-compensated lifting assembfy (200) according to daims 1-4, eharactarfead in that the connection assembfy (300) indudes an intermediate connection device (330) tiltable arranged to the arm connection device (310) In the vertical direction, wherein the intermediate connection device (330) exhiMt the rotational interface (331). S. 30 motion-compensated lifting assembly (200) according to claims 1-5, characterlied in that the connection assembly (300) indudes a boom connection device (320) rotatably arranged to the Intermedlate connection device (330). 6.3D motion-compensated lifting assembly (200) according to claims1-5, charactarliad In that the telescopic boom (400) is tiltable arranged to the Intermedlate connection device (330) by at least one linear actuator (322). 7.3D motion-compensated lifting assembly (200) according to claims 1-5, characterlied In that the intermediate connection device (330) is arranged tiltable to the arm connection device (310) by bm links (311,312), wherein a linear actuator (313) Is arranged to the link (311).

8. 3D motion-compensated lifting assembly (200) according to claim 1, charaeterized In that the telescopic boom (400) Is extendable and retractable by at least one linear actuator (405) and that the winch (500) Is arranged at a rear end of the telescopic boom (400), at upper side thereof, and that a holder device (403) Is arranged at distal end of the telescopic boom (400) holding a guide sheave (404). 9.3D motion-compensated lifting assembly (200) according to claims 1-8, characterlied In that the 3D motion-compensated lifting assembfy (200) Is self-supplled by that a power and control unit (600) is arranged to the connection assembly (300).