EP3290382B1 - Device for lifting, lowering or holding a load - Google Patents

Device for lifting, lowering or holding a load Download PDF

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Publication number
EP3290382B1
EP3290382B1 EP17167045.8A EP17167045A EP3290382B1 EP 3290382 B1 EP3290382 B1 EP 3290382B1 EP 17167045 A EP17167045 A EP 17167045A EP 3290382 B1 EP3290382 B1 EP 3290382B1
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EP
European Patent Office
Prior art keywords
load
active
roller
actuator
suspension rope
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Active
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EP17167045.8A
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German (de)
French (fr)
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EP3290382A1 (en
Inventor
Maarten Kuijpers
Patrick Verbakel
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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
    • 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

Definitions

  • the invention relates to a device for lifting, lowering or holding a load according to the preamble of patent claim 1.
  • Sea state or swell compensation systems (Heave Compensation System) - hereinafter also referred to as HCS - are used, for example, in offshore / marine technology when a load is to be deposited from a ship by means of a crane onto an object supported on the seabed, for example a platform.
  • HCS Sea state or swell compensation systems
  • Such a task is the assembly of drilling rigs or offshore wind turbines or when a drill string is lowered from a floating platform and this is raised and lowered by the swell.
  • heavy measuring devices or supply stations for robots or the like are lowered from a ship via a winch to great depths, the tether being then exposed to considerable tensile loads caused by the swell.
  • a linearly adjustable unit for example a hydraulic cylinder or a rotationally operated unit, for example a hydraulic motor
  • a hydropneumatic storage unit the pressure of which is designed so that the load is supported in a central position without rough seas - the storage unit thus acts as a kind of gas spring.
  • Such passive compensation systems are structurally matched to the respective application purpose and the associated loads, so that adaptation to different loads is only possible with greater effort.
  • Such passive systems are often arranged between the actual crane hook and the load and are therefore below sea level when they are lowered.
  • active systems are preferably used in which a linear drive, primarily a hydraulic cylinder, or a rotary drive, primarily a hydraulic motor, is implemented with a position control system through which the Load can always be held in the predetermined position by controlling the drive.
  • a linear drive primarily a hydraulic cylinder, or a rotary drive, primarily a hydraulic motor
  • a position control system through which the Load can always be held in the predetermined position by controlling the drive.
  • Active systems of this type are usually arranged on the ship, so that they also have to move the weight of the crane rope, the crane blocks (pulley block) and the crane hook, so that the payload is reduced by the additional weight of these components.
  • the load is compensated for by a passive hydropneumatic storage system and, on the other hand, the target position of the load is kept constant by an active control system.
  • a passive hydropneumatic storage system has the advantage that over the active one System only the compensating movement of the load has to be effected, while the actual support takes place via the passive system.
  • Combination systems of this type are required in particular when a load is to be lifted from the seabed or from a platform anchored on it or lowered onto it at a predetermined speed.
  • a similar system is also used in that mentioned above U.S. 4,121,806 explained.
  • passively acting hydraulic cylinders pretensioned via a hydropneumatic storage unit and active hydraulic cylinders with position control are arranged parallel to one another in a compensation unit to which the actual crane hook is attached, which is connected to the load via the crane rope.
  • the U.S. 4,021,019 shows a system in which an active hydraulic cylinder is integrated into a passive hydraulic cylinder.
  • the active compensation unit is each designed with a winch arrangement, with a winch rope or the like engaging the load in order to support the lifting device and the passive compensation device when lowering by controlling the lowering of the winch rope by controlling the active winch accordingly.
  • the WO 2011/034422 A2 discloses a winch device with a pulley block for a ship, a passive and an active compensation device being provided, both of which act on the carrying rope of the pulley block.
  • WO 2011/034422 A2 discloses the preamble of claim 1.
  • the invention is based on the object of creating a device which enables the compensation of relative movements with little outlay in terms of device technology.
  • the device for lifting, lowering or holding a load has a compensation device which is designed to compensate for relative movements of the load with reference to a target position caused in particular by rough seas.
  • the load can be moved in the direction of or away from the target position by means of a lifting device and has fixed and loose rollers which, together with a support rope, form a pulley block.
  • the suspension cable can be hauled in or lowered by means of an actuator in order to raise or lower the load.
  • the lifting device is assigned a passive compensation device which at least partially supports the weight of the load.
  • an active compensation unit which can be controlled by a control unit as a function of a movement of the load caused by a swell.
  • the support cable of the pulley system extends from the actuator via the rollers to an active actuator of the active compensation unit, this active actuator being controllable independently of the actuator.
  • the pulley system therefore has a double function. On the one hand, it serves to move the load and also to carry the passive compensation device and, on the other hand, it is part of the active compensation unit.
  • a brake is provided, which is arranged on a pulley of the pulley system in order to hold the suspension rope firmly so that a passive part of the suspension rope extends from the roller to the actuator and the other, active part of the suspension rope extends from the roller to the active actuator.
  • this brake is used to divide the support cable and thus the pulley block into two parts that can be operated functionally independently of one another.
  • the brake acts on one of the stationary rollers which are usually arranged on deck (above the water level).
  • the passive compensation device has a hydraulic cylinder, the piston of which delimits a pressure chamber effective in the support direction, which is in operative connection with a hydropneumatic storage unit, a piston rod engaging the load so that a type of gas spring is formed for passive support of the load .
  • the preload in the pressure chamber determined by the pressure in the hydropneumatic storage unit is preferably selected so that the weight of the load is approximately compensated when the piston rod is extended (in the lowering direction).
  • the load is then somewhat undercompensated in the middle position. This has the effect, for example, that When the suspension rope is lowered by means of the active actuator, the piston rod holding the load moves out of its central position, for example to compensate for the lifting of a ship or floating crane due to a wave movement. Conversely, when the floating crane is lowered, the active actuator is activated in order to haul in the suspension rope so that the load remains in the predetermined target position.
  • the complexity of the device can be further reduced if the hydraulic cylinder is designed as a synchronous cylinder, with the part of the supporting cable assigned to the active actuator engaging the piston rod remote from the load.
  • the hydraulic cylinder is thus assigned to both the active compensation unit and the passive compensation device as an adjusting element.
  • At least one loose roller of the first-mentioned part is arranged on a roller block carrying the hydraulic cylinder and at least one loose roller assigned to the active part engages the piston rod of the hydraulic cylinder facing away from the load.
  • the actuation of the actuators is simplified if devices, in particular sensors, are provided for detecting the effective length of the suspension cable of the parts and the winch force.
  • the actuators are then controlled by means of a control unit as a function of the measurement signals from these devices.
  • Such a solution has the advantage that these devices / sensors can be provided on the ceiling and it is not necessary to provide sensors for detecting the load states of the compensation device / compensation unit, in particular the hydraulic cylinder, below the water level.
  • a bypass valve can be assigned to the gas reservoir for rapid pressure relief of the pressure chamber of the hydraulic cylinder that is effective in the support direction.
  • the control unit mentioned at the beginning is designed so that it controls the device according to the following modes: On the one hand, a mode is provided in which the "simple" lifting or lowering of the load takes place by controlling the actuator and stopping the active winch. The compensation of a relative movement of the load caused by swell or swell relative to the target position can take place by engaging the brake and controlling the active actuator and stopping the actuator. In a combination mode, the load is raised or lowered and a relative movement of the load caused by swell or swell is actively compensated in relation to the target position by engaging the brake and activating the actuator and the active actuator.
  • a preferred embodiment of a device according to the invention for lifting, lowering or holding a load is explained below with reference to a device shown in the drawing with compensation devices for compensating for relative movements of a load caused by rough seas with reference to a target position.
  • the single figure of the drawing shows a schematic diagram of a ship or floating crane 2 designed with such a device according to the invention for sea wave compensation (HCS) 1, via which a load L is to be deposited on another ship or on the seabed 4 or on a platform anchored on this.
  • the device 1 motion compensation device, HCS
  • HCS sea wave compensation
  • the device 1 has a passive compensation device 6 and an active compensation unit 8, the specific structure of which is explained below.
  • a loading crane 10 is mounted, which in a known manner has a plurality of stationary rollers (disks) 14a, 14b, 14c and a plurality of movable rollers (disks) 16a, 16b, 16c, which together with a Support rope 18 form a pulley block 20.
  • the movable rollers 16 (loose part) are mounted on a roller block 22.
  • the support cable 18, which is fixed with one end on the deck, can be hauled in or lowered / released around the load by means of a winch 21 of the loading crane 10 L to raise or lower.
  • the effective force of the winch 21 is then translated accordingly via the pulley block 20.
  • a hydraulic cylinder 24 is held on the roller block 22 which is designed as a synchronous cylinder.
  • a piston 26 divides the interior of the hydraulic cylinder 24 into a pressure chamber 28 acting in the support direction and a pressure chamber 30 acting in the lowering direction.
  • the pressure chamber 28 is connected to a hydropneumatic storage unit 32, which, as usual, can be designed as a hydropneumatic piston accumulator with one or more downstream gas bottles and through which the pressure chamber 28 is acted upon with a preload pressure.
  • the pressure chamber 28 and the hydropneumatic storage unit 32 form a type of gas spring.
  • the pressure chamber 30 can be filled with a gas, for example nitrogen, and it can be connected to a gas cylinder to increase the gas volume.
  • the hydraulic cylinder 24 is designed as a synchronous cylinder.
  • a load-side piston rod 34 carries the load L, which is fastened to the piston rod 34, for example, via a crane hook or the like.
  • the force resulting from the preload corresponds approximately to the weight of the load L to be moved when the piston rod 34 is extended. This is approximately 100% compensated in the end position, in the middle position of the piston 26, i.e. when the pressure chamber 28 is the same size as the pressure chamber 30 , there is undercompensation.
  • a piston rod 36 of the piston 26 at a distance from the load L passes through the pressure chamber 30 and is connected via a bracket 38 to a further loose / movable roller 40 which is also wrapped by the support cable 18.
  • a further loose / movable roller 40 which is also wrapped by the support cable 18.
  • two fixed rollers 42, 44 are provided on the cover side, the supporting cable 18 passing from the fixed roller 42 to the roller 40 and from this to the roller 44, via which the supporting cable 18 to a Active winch 46 is deflected.
  • the two winches 21 and 46 are controlled by means of a control unit 48 as a function of measurement signals from sensors 50, 52, via which the force applied by the respective winch and the effective length of the suspension rope 18 or the change in length of the suspension rope 18 due to the lowering or hauling in of the support cable 18 is detected. As indicated in the figure, the two winches 21, 46 are then controlled via the control unit 48 as a function of these signals in order to control the compensation movements explained to compensate for the swell.
  • a brake 54 is assigned to the fixed roller 42, via which the roller 42 and also the support cable 18 can be held, so that the continuous support cable 18 then turns into an active part 56 wrapping around the rollers 40, 44 and one around the rollers 14a, 16a , 14b, 16b, 14c, 16c wrapping, passive part 58 is divided.
  • the roller 42 acts, so to speak, as a cover-side fixed point for the respective part 56, 58.
  • the active part 56 can then be hauled in or lowered relative to the passive part via the active winch 46, with the roller 40 relative to the rollers 16a, 16b and 16c is moved vertically.
  • the passive part 58 is operated as a "normal" pulley block - similar to the conventional solutions - via the winch 21.
  • the brake 54 is in turn activated via the control unit 48.
  • a bypass valve 60 can be assigned to the hydraulic cylinder 24, via which the pressure space 28 can be connected to the pressure chamber 30, so that only the active compensation unit 8 is still effective.
  • the hydraulic cylinder 24 acts as an adjusting element for the passive compensation device 6 and the active compensation unit 8.
  • the console 28 can also act on a further active cylinder whose piston / piston rod then acts on the load L parallel to the hydraulic cylinder 24.
  • the control unit 48 is designed such that the device 1 can be controlled in at least three operating modes.
  • a first operating mode in which the load L is only lowered or raised in the direction of a target position and, for example, there is no swell
  • the brake 54 is disengaged and the active winch 46 is stopped / braked so that it forms the fixed point of the supporting rope 18.
  • the raising and lowering movement is then carried out by controlling the winch 21, with the rollers 14a, 14b, 14c, 42, 44 then forming fixed rollers of a block and tackle and the rollers 16a, 16b, 16c and 40 forming the loose rollers of the block and tackle.
  • the brake 54 In an operating mode in which the load L is to be held in a certain relative position in rough seas, the brake 54 is engaged, so that the support cable 18 or, more precisely, the pulley block 20 is divided into the two parts 56, 58.
  • the winch 21 is stopped.
  • the passive compensation takes place via the gas spring formed by the storage unit 32 and the active compensation by corresponding control of the active winch 46, via which the roller 40, the console 38 and the piston 26 together with the piston rods 34 and 36 by corresponding lowering or retrieving / closing the active part 56 of the support rope 18 is raised or lowered relative to the housing of the hydraulic cylinder 24, the lowering movement being made possible essentially by the above-described undercompensating bias.
  • the movement of the parts is in Figure 1 indicated by a double arrow 62.
  • a third operating mode the swell is compensated while the load L is being raised or lowered.
  • the brake 54 is also engaged and both winches 21, 46 are controlled via the control unit 48 in such a way that, on the one hand, the lowering / raising movement with the predetermined speed takes place and on the other hand the relative movements of the load L caused by the sea are compensated. These relative movements are in turn indicated by the double arrow 62.
  • Another advantage of the system described is that all fixed rollers and all loose rollers are each essentially in the same plane, so that the dynamic loads in the pulley block 20 are minimal, since all rollers are more or less loaded in the same way.
  • the solution according to the invention can easily be retrofitted to existing solutions by replacing the support cable 18 and adding the active part 56 with the rollers 42, 44, 40.
  • winches (winch 21, active winch 46) are used - in principle, instead of such winches, other actuators, for example linear drives or the like, can also be used.
  • the support cable can be designed as a chain or other wear-resistant traction means in the area of the deflection.
  • the section to be wound onto the winches can also be made of high-strength plastic, for example Dyneema®.
  • the stroke of the above-described active compensation unit 8 preferably only corresponds to the ship movements caused by swell / swell (+ approx. 10 m), so that the active actuator can be designed to be relatively small.
  • the use of the device is not limited to the compensation of movements caused by swell, but can be used in general where the relative movements of a load caused by external circumstances are to be compensated.
  • the active compensation unit can also be designed as a mobile solution.
  • a swell compensation device in which a load is supported via a passive compensation device and an active compensation unit, a pulley block of a lifting device being assigned to both the passive compensation device and the active compensation unit.

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Description

Die Erfindung betrifft eine Einrichtung zum Heben, Senken oder Halten einer Last gemäß dem Oberbegriff des Patentanspruches 1.The invention relates to a device for lifting, lowering or holding a load according to the preamble of patent claim 1.

Seegangs- oder Dünungskompensationseinrichtungen (Heave Compensation System) - im Folgenden auch HCS genannt - werden beispielsweise in der Offshore-/Marinetechnik eingesetzt, wenn eine Last von einem Schiff mittels eines Krans auf ein am Meeresboden abgestütztes Objekt, beispielsweise eine Plattform abgesetzt werden soll. Eine derartige Aufgabenstellung liegt bei der Montage von Bohrinseln oder Offshore-Windkraftanlagen vor oder wenn ein Bohrstrang von einer schwimmenden Plattform aus abgesenkt wird und diese durch den Seegang angehoben und abgesenkt wird. In der Forschung werden schwere Messgeräte oder Versorgungsstationen für Roboter oder dergleichen von einem Schiff über eine Winde in große Tiefen abgesenkt, wobei dann durch den Seegang verursacht das Halteseil erheblichen Zugbelastungen ausgesetzt ist.Sea state or swell compensation systems (Heave Compensation System) - hereinafter also referred to as HCS - are used, for example, in offshore / marine technology when a load is to be deposited from a ship by means of a crane onto an object supported on the seabed, for example a platform. Such a task is the assembly of drilling rigs or offshore wind turbines or when a drill string is lowered from a floating platform and this is raised and lowered by the swell. In research, heavy measuring devices or supply stations for robots or the like are lowered from a ship via a winch to great depths, the tether being then exposed to considerable tensile loads caused by the swell.

Zum Ausgleich derartiger durch Seegang oder Dünung verursachten Relativbewegungen der Last zur jeweils vorgegebenen Zielposition sind passive und aktive Systeme bekannt. Bei einem passiven System, wie es beispielsweise in der Beschreibungseinleitung der US 4,121,806 beschrieben ist, wird eine linear verstellbare Einheit, beispielsweise ein Hydrozylinder oder eine rotatorisch betriebene Einheit, beispielsweise ein Hydromotor in Abstützrichtung über eine hydropneumatische Speichereinheit beaufschlagt, deren Druck so ausgelegt ist, dass die Last ohne Seegang in einer Mittelposition abgestützt ist - die Speichereinheit wirkt somit als eine Art Gasfeder.Passive and active systems are known to compensate for such relative movements of the load caused by swell or swell in relation to the respectively predetermined target position. In the case of a passive system, for example in the introduction to the description of the U.S. 4,121,806 is described, a linearly adjustable unit, for example a hydraulic cylinder or a rotationally operated unit, for example a hydraulic motor, is acted upon in the support direction via a hydropneumatic storage unit, the pressure of which is designed so that the load is supported in a central position without rough seas - the storage unit thus acts as a kind of gas spring.

Derartige passive Kompensationssysteme sind konstruktiv auf den jeweiligen Anwendungszweck und die zugehörigen Lasten abgestimmt, so dass eine Anpassung an unterschiedliche Lasten nur mit größerem Aufwand möglich ist. Derartige Passivsysteme sind häufig zwischen dem eigentlichen Kranhaken und der Last angeordnet und befinden sich somit beim Absenken unterhalb des Meeresspiegels.Such passive compensation systems are structurally matched to the respective application purpose and the associated loads, so that adaptation to different loads is only possible with greater effort. Such passive systems are often arranged between the actual crane hook and the load and are therefore below sea level when they are lowered.

Ein Problem bei derartigen passiven Systemen besteht darin, dass die Aufladung der hydropneumatischen Speichereinheit in Abhängigkeit von der Last und dem Seegang und auch von der Eintauchtiefe angepasst werden muss. In der US 7,934,561 B1 ist ein passives System mit einer Wassertiefenkompensation gezeigt, über die sich die Einflüsse der Wassertiefe beim Absenken der Last etwas kompensieren lassen.One problem with such passive systems is that the charging of the hydropneumatic storage unit has to be adapted as a function of the load and the swell and also of the immersion depth. In the US 7,934,561 B1 a passive system with water depth compensation is shown, which can be used to somewhat compensate for the effects of water depth when lowering the load.

Bei Anwendungen, bei denen es auf eine sehr präzise Führung der Last beim Absenken ankommt, werden vorzugsweise aktive Systeme verwendet, bei denen ein Linearantrieb, vornehmlich ein Hydrozylinder, oder ein rotatorischer Antrieb, vornehmlich ein Hydromotor, mit einem Positionsregelsystem ausgeführt ist, durch das die Last durch Ansteuerung des Antriebs stets auf der vorbestimmten Position gehalten werden kann. Eine derartige Einrichtung mit aktiver und passiver Kompensationseinrichtung ist in der US 4,121, 806 beschrieben.In applications where very precise guidance of the load when lowering is important, active systems are preferably used in which a linear drive, primarily a hydraulic cylinder, or a rotary drive, primarily a hydraulic motor, is implemented with a position control system through which the Load can always be held in the predetermined position by controlling the drive. Such a device with active and passive compensation device is in the U.S. 4,121,806 described.

Derartige aktive Systeme werden üblicher Weise auf dem Schiff angeordnet, so dass sie auch das Gewicht des Kranseils, der Kranblöcke (Flaschenzug) und des Kranhakens bewegen müssen, so dass die Nutzlast durch das zusätzliche Gewicht dieser Komponenten reduziert ist.Active systems of this type are usually arranged on the ship, so that they also have to move the weight of the crane rope, the crane blocks (pulley block) and the crane hook, so that the payload is reduced by the additional weight of these components.

Bei größeren Lasten wird üblicher Weise ein Kombination eines aktiven und passiven Systems eingesetzt, wie es beispielsweise in der EP 1 869 282 B1 erläutert ist.For larger loads, a combination of an active and passive system is usually used, as is the case for example in the EP 1 869 282 B1 is explained.

Dabei wird zum einen die Last über ein passives hydropneumatisches Speichersystem kompensiert und zum anderen die Sollposition der Last über ein aktives Regelsystem konstant gehalten. Ein derartiges System hat den Vorteil, dass über das aktive System lediglich die Ausgleichsbewegung der Last bewirkt werden muss, während das eigentliche Abstützen über das passive System erfolgt. Derartige Kombinationssysteme sind insbesondere dann erforderlich, wenn eine Last mit einer vorbestimmten Geschwindigkeit vom Meeresboden oder von einer auf diesem verankerten Plattform abgehoben oder auf diese abgesenkt werden soll. Ein ähnliches System ist auch in der eingangs genannten US 4,121,806 erläutert. Bei dieser Anordnung sind passiv wirkende, über eine hydropneumatische Speichereinheit vorgespannte Hydrozylinder und aktive Hydrozylinder mit einer Positionsregelung parallel zueinander in einer Kompensationseinheit angeordnet, an der der eigentliche Kranhaken befestigt ist, die über das Kranseil mit der Last verbunden ist.On the one hand, the load is compensated for by a passive hydropneumatic storage system and, on the other hand, the target position of the load is kept constant by an active control system. Such a system has the advantage that over the active one System only the compensating movement of the load has to be effected, while the actual support takes place via the passive system. Combination systems of this type are required in particular when a load is to be lifted from the seabed or from a platform anchored on it or lowered onto it at a predetermined speed. A similar system is also used in that mentioned above U.S. 4,121,806 explained. In this arrangement, passively acting hydraulic cylinders pretensioned via a hydropneumatic storage unit and active hydraulic cylinders with position control are arranged parallel to one another in a compensation unit to which the actual crane hook is attached, which is connected to the load via the crane rope.

Die US 4,021,019 zeigt ein System, bei dem ein aktiver Hydrozylinder in einen passiven Hydrozylinder integriert ist.The U.S. 4,021,019 shows a system in which an active hydraulic cylinder is integrated into a passive hydraulic cylinder.

Derartige Systeme haben einen relativ komplexen Aufbau und werden seitens der Hersteller bei der Konzeption des Krans integriert. Eine Nachrüstung des aktiven Systems bei bestehenden Kränen, die lediglich mit einem passiven Kompensationssystem ausgeführt sind, ist nur mit äußerst großem Aufwand möglich, da ein Eingriff in die Kranstruktur des bestehenden Designs erforderlich ist und auch zusätzliche hydraulische Leistung bereitgestellt werden muss. Hinzu kommt, dass existierende Krandesigns aufgrund Restriktionen im Hinblick auf die maximale Seilgeschwindigkeit, das Gewicht und den Durchmesser der Seilscheiben/Blöcke und die Steifigkeit der Konstruktion unterliegen, so dass eine Nachrüstung mit einem aktiven System nahezu ausgeschlossen ist.Such systems have a relatively complex structure and are integrated by the manufacturer when the crane is designed. Retrofitting the active system in existing cranes that are only designed with a passive compensation system is only possible with extremely great effort, since an intervention in the crane structure of the existing design is necessary and additional hydraulic power must also be provided. In addition, existing crane designs are subject to restrictions with regard to the maximum rope speed, the weight and diameter of the sheaves / blocks and the rigidity of the construction, so that retrofitting with an active system is almost impossible.

In den Druckschriften DE 10 2015 225 936 A1 und EP 2 896 589 A1 sind jeweils Systeme gezeigt, bei denen eine aktive Kompensationseinheit und eine mit einer passiven Kompensationseinrichtung versehene Hubeinrichtung getrennt an der Last angreifen. Aufgrund der getrennten Kraftflusslinien des aktiven und passiven Teils können bestehende Systeme mit einer aktiven Kompensationseinheit nachgerüstet werden.In the pamphlets DE 10 2015 225 936 A1 and EP 2 896 589 A1 each shows systems in which an active compensation unit and a lifting device provided with a passive compensation device act separately on the load. Due to the separate power flow lines of the active and passive part, existing systems can be retrofitted with an active compensation unit.

Bei diesen Systemen ist die aktive Kompensationseinheit jeweils mit einer Windenanordnung ausgeführt, wobei ein Windenseil oder dergleichen an der Last angreift, um die Hubeinrichtung und die passive Kompensationseinrichtung beim Absenken zu unterstützen, indem das Fieren des Windenseils durch entsprechende Ansteuerung der aktiven Winde gesteuert wird.In these systems, the active compensation unit is each designed with a winch arrangement, with a winch rope or the like engaging the load in order to support the lifting device and the passive compensation device when lowering by controlling the lowering of the winch rope by controlling the active winch accordingly.

Die WO 2011/034422 A2 offenbart eine Windenvorrichtung mit Flaschenzug für ein Schiff, wobei eine passive und eine aktive Kompensationseinrichtung vorgesehen sind, die beide an dem Tragseil des Flaschenzugs angreifen. WO 2011/034422 A2 offenbart den Oberbegriff des Anspruchs 1.The WO 2011/034422 A2 discloses a winch device with a pulley block for a ship, a passive and an active compensation device being provided, both of which act on the carrying rope of the pulley block. WO 2011/034422 A2 discloses the preamble of claim 1.

Nachteilig bei derartigen Lösungen ist, dass ein relativ großer vorrichtungstechnischer Aufwand zur Realisierung der passiven Kompensationseinrichtung und der aktiven Kompensationseinheit erforderlich ist.The disadvantage of such solutions is that a relatively large outlay in terms of device technology is required to implement the passive compensation device and the active compensation unit.

Demgegenüber liegt der Erfindung die Aufgabe zugrunde, eine Einrichtung zu schaffen, die die Kompensation von Relativbewegungen mit geringem vorrichtungstechnischem Aufwand ermöglicht.In contrast, the invention is based on the object of creating a device which enables the compensation of relative movements with little outlay in terms of device technology.

Diese Aufgabe wird durch eine Einrichtung mit der Merkmalskombination des Patentanspruches 1 gelöst.This object is achieved by a device with the combination of features of patent claim 1.

Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche. Erfindungsgemäß hat die Einrichtung zum Heben, Senken oder Halten einer Last eine Kompensationseinrichtung, die zum Ausgleich von insbesondere durch Seegang verursachten Relativbewegungen der Last mit Bezug zu einer Zielposition ausgeführt ist. Die Last ist dabei mittels einer Hubeinrichtung in Richtung zur Zielposition oder von dieser weg bewegbar und hat feste und lose Rollen, die gemeinsam mit einem Tragseil einen Flaschenzug bilden. Das Tragseil kann mittels eines Aktors eingeholt oder gefiert werden, um die Last anzuheben oder abzusenken. Weiterhin ist der Hubeinrichtung eine passive Kompensationseinrichtung zugeordnet, die das Gewicht der Last zumindest teilweise stützt. Des Weiteren ist eine aktive Kompensationseinheit vorgesehen, die von einer Regeleinheit in Abhängigkeit von einer durch Seegang verursachten Bewegung der Last ansteuerbar ist. Erfindungsgemäß erstreckt sich das Tragseil des Flaschenzugs von dem Aktor über die Rollen zu einem Aktivaktor der aktiven Kompensationseinheit, wobei dieser Aktivaktor unabhängig von dem Aktor ansteuerbar ist. Der Flaschenzug hat also eine Doppelfunktion. Er dient zum einen dazu, die Last zu bewegen und auch die passive Kompensationseinrichtung zu tragen und ist zum anderen Teil der aktiven Kompensationseinheit. Somit ist der vorrichtungstechnische Aufwand gegenüber den vorbeschriebenen Lösungen bei zumindest gleichbleibender Funktion deutlich verringert, da keine gesonderte Einrichtung, beispielsweise ein weiteres Windenseil erforderlich ist, um die Stellbewegung des Aktivaktors auf einen Hydrozylinder der aktiven Kompensationseinheit zu übertragen.Advantageous further developments of the invention are the subject of the dependent claims. According to the invention, the device for lifting, lowering or holding a load has a compensation device which is designed to compensate for relative movements of the load with reference to a target position caused in particular by rough seas. The load can be moved in the direction of or away from the target position by means of a lifting device and has fixed and loose rollers which, together with a support rope, form a pulley block. The suspension cable can be hauled in or lowered by means of an actuator in order to raise or lower the load. Farther the lifting device is assigned a passive compensation device which at least partially supports the weight of the load. Furthermore, an active compensation unit is provided, which can be controlled by a control unit as a function of a movement of the load caused by a swell. According to the invention, the support cable of the pulley system extends from the actuator via the rollers to an active actuator of the active compensation unit, this active actuator being controllable independently of the actuator. The pulley system therefore has a double function. On the one hand, it serves to move the load and also to carry the passive compensation device and, on the other hand, it is part of the active compensation unit. Thus, the device-related effort compared to the solutions described above is significantly reduced with at least the same function, since no separate device, for example an additional winch cable, is required to transfer the actuating movement of the active actuator to a hydraulic cylinder of the active compensation unit.

Erfindungsgemäß ist eine Bremse vorgesehen, die an einer Rolle des Flaschenzugs angeordnet ist, um das Tragseil festzuhalten, so dass sich eine passive Part des Tragseils von der Rolle zum Aktor und die andere, aktive Part des Tragseils von der Rolle zum Aktivaktor erstreckt. Mit anderen Worten gesagt, über diese Bremse werden das Tragseil und damit der Flaschenzug in zwei funktional unabhängig voneinander betätigbare Parten aufgeteilt.According to the invention, a brake is provided, which is arranged on a pulley of the pulley system in order to hold the suspension rope firmly so that a passive part of the suspension rope extends from the roller to the actuator and the other, active part of the suspension rope extends from the roller to the active actuator. In other words, this brake is used to divide the support cable and thus the pulley block into two parts that can be operated functionally independently of one another.

Insbesondere bei Offshore-Bedingungen ist es vorteilhaft, wenn der Aktor und der Aktivaktor als Winden ausgeführt sind. Derartige Antriebe sind kostengünstig und robust ausgeführt.In particular in offshore conditions it is advantageous if the actuator and the active actuator are designed as winches. Such drives are inexpensive and robust.

Erfindungsgemäß wird es besonders bevorzugt, wenn die Bremse an einer der ortsfesten Rollen angreift, die üblicherweise an Deck (oberhalb des Wasserspiegels) angeordnet sind.According to the invention, it is particularly preferred if the brake acts on one of the stationary rollers which are usually arranged on deck (above the water level).

Gemäß einer Variante der Erfindung hat die passive Kompensationseinrichtung einen Hydrozylinder, dessen Kolben einen in Stützrichtung wirksamen Druckraum begrenzt, der mit einer hydropneumatischen Speichereinheit in Wirkverbindung steht, wobei eine Kolbenstange an der Last angreift, so dass eine Art Gasfeder zur passiven Abstützung der Last gebildet ist.According to a variant of the invention, the passive compensation device has a hydraulic cylinder, the piston of which delimits a pressure chamber effective in the support direction, which is in operative connection with a hydropneumatic storage unit, a piston rod engaging the load so that a type of gas spring is formed for passive support of the load .

Die vom Druck in der hydropneumatischen Speichereinheit bestimmte Vorspannung im Druckraum ist vorzugsweise so gewählt, dass das Gewicht der Last bei ausgefahrener Kolbenstange (in Absenkrichtung) in etwa kompensiert ist. In der Mittelstellung ist die Last dann etwas unterkompensiert. Dadurch wird beispielsweise bewirkt, dass beim Fieren des Tragseils mittels des Aktivaktors die die Last haltende Kolbenstange aus ihrer Mittelposition heraus ausfährt, um beispielsweise ein Anheben eines Schiffes oder Schwimmkrans aufgrund einer Wellenbewegung zu kompensieren. In umgekehrter Weise wird bei einem Absenken des Schwimmkrans der Aktivaktor angesteuert, um das Tragseil einzuholen, so dass die Last in der vorbestimmten Zielposition verbleibt.The preload in the pressure chamber determined by the pressure in the hydropneumatic storage unit is preferably selected so that the weight of the load is approximately compensated when the piston rod is extended (in the lowering direction). The load is then somewhat undercompensated in the middle position. This has the effect, for example, that When the suspension rope is lowered by means of the active actuator, the piston rod holding the load moves out of its central position, for example to compensate for the lifting of a ship or floating crane due to a wave movement. Conversely, when the floating crane is lowered, the active actuator is activated in order to haul in the suspension rope so that the load remains in the predetermined target position.

Der vorrichtungstechnische Aufwand lässt sich weiter verringern, wenn der Hydrozylinder als Gleichgangzylinder ausgeführt ist, wobei die dem Aktivaktor zugeordnete Part des Tragseils an der von der Last entfernten Kolbenstange angreift. Bei diesem Ausführungsbeispiel ist der Hydrozylinder somit sowohl der aktiven Kompensationseinheit als auch der passiven Kompensationseinrichtung als Stellelement zugeordnet.The complexity of the device can be further reduced if the hydraulic cylinder is designed as a synchronous cylinder, with the part of the supporting cable assigned to the active actuator engaging the piston rod remote from the load. In this exemplary embodiment, the hydraulic cylinder is thus assigned to both the active compensation unit and the passive compensation device as an adjusting element.

In einer bevorzugten Ausbildung einer erfindungsgemäßen Einrichtung ist zumindest eine lose Rolle der erstgenannten Part an einem den Hydrozylinder tragenden Rollenblock angeordnet und zumindest eine der aktiven Part zugeordnete lose Rolle greift an der von der Last abgewandten Kolbenstange des Hydrozylinders an.In a preferred embodiment of a device according to the invention, at least one loose roller of the first-mentioned part is arranged on a roller block carrying the hydraulic cylinder and at least one loose roller assigned to the active part engages the piston rod of the hydraulic cylinder facing away from the load.

Die Ansteuerung der Aktoren ist vereinfacht, wenn Einrichtungen, insbesondere Sensoren zur Erfassung der wirksamen Tragseillänge der Parten und der Windenkraft vorgesehen sind. In Abhängigkeit von den Messsignalen dieser Einrichtungen erfolgt dann die Ansteuerung der Aktoren mittels einer Regeleinheit. Eine derartige Lösung hat den Vorteil, dass diese Einrichtungen/Sensoren deckseitig vorgesehen werden können und es nicht erforderlich ist, Sensoren zur Erfassung der Lastzustände der Kompensationseinrichtung/Kompensationseinheit, insbesondere des Hydrozylinders unterhalb des Wasserspiegels vorzusehen.The actuation of the actuators is simplified if devices, in particular sensors, are provided for detecting the effective length of the suspension cable of the parts and the winch force. The actuators are then controlled by means of a control unit as a function of the measurement signals from these devices. Such a solution has the advantage that these devices / sensors can be provided on the ceiling and it is not necessary to provide sensors for detecting the load states of the compensation device / compensation unit, in particular the hydraulic cylinder, below the water level.

Zur schnellen Druckentlastung des in Stützrichtung wirksamen Druckraumes des Hydrozylinders kann dem Gasspeicher ein Bypassventil zugeordnet werden.A bypass valve can be assigned to the gas reservoir for rapid pressure relief of the pressure chamber of the hydraulic cylinder that is effective in the support direction.

Die eingangs genannte Regeleinheit ist so ausgelegt, dass sie die Einrichtung nach folgenden Modi steuert:
Zum einen ist ein Modus vorgesehen, in dem das "einfache" Anheben oder Absenken der Last durch Ansteuern des Aktors und Anhalten der Aktivwinde erfolgt.
Die Kompensation einer durch Wellengang oder Dünung verursachten Relativbewegung der Last relativ zu der Zielposition kann durch Einrücken der Bremse und Ansteuern des Aktivaktors und Anhalten des Aktors erfolgen.
In einem Kombinationsmodus erfolgt das Anheben oder Absenken der Last und dabei eine aktive Kompensation einer durch Wellengang oder Dünung verursachten Relativbewegung der Last mit Bezug zu der Zielposition durch Einrücken der Bremse und Ansteuern des Aktors und des Aktivaktors.The control unit mentioned at the beginning is designed so that it controls the device according to the following modes:
On the one hand, a mode is provided in which the "simple" lifting or lowering of the load takes place by controlling the actuator and stopping the active winch.
The compensation of a relative movement of the load caused by swell or swell relative to the target position can take place by engaging the brake and controlling the active actuator and stopping the actuator.
In a combination mode, the load is raised or lowered and a relative movement of the load caused by swell or swell is actively compensated in relation to the target position by engaging the brake and activating the actuator and the active actuator.

Ein bevorzugtes Ausführungsbeispiel einer erfindungsgemäßen Einrichtung zum Heben, Senken oder Halten einer Last wird im Folgenden anhand einer in der Zeichnung dargestellten Einrichtung mit Kompensationseinrichtungen zum Ausgleich von durch Seegang verursachten Relativbewegungen einer Last mit Bezug zu einer Zielposition erläutert.A preferred embodiment of a device according to the invention for lifting, lowering or holding a load is explained below with reference to a device shown in the drawing with compensation devices for compensating for relative movements of a load caused by rough seas with reference to a target position.

Die einzige Figur der Zeichnung zeigt ein Prinzipschaubild eines mit einer derartigen erfindungsgemäßen Einrichtung zur Seegangskompensation (HCS) 1 ausgeführten Schiffes oder Schwimmkrans 2, über den eine Last L auf einem anderen Schiff oder dem Meeresboden 4 oder einer auf diesem verankerten Plattform abgesetzt werden soll. Die Einrichtung 1 (Bewegungskompensationseinrichtung, HCS) hat eine passive Kompensationseinrichtung 6 und eine aktive Kompensationseinheit 8, deren konkreter Aufbau im Folgenden erläutert ist. Auf dem angedeuteten Schwimmkran 2 ist ein Ladekran 10 montiert, der in an sich bekannter Weise eine Vielzahl von ortsfesten Rollen (Scheiben) 14a, 14b, 14c und eine Vielzahl von beweglichen Rollen (Scheiben) 16a, 16b, 16c aufweist, die gemeinsam mit einem Tragseil 18 einen Flaschenzug 20 bilden. Die beweglichen Rollen 16 (lose Part) sind an einem Rollenblock 22 gelagert. Das mit einem Ende an Deck festgelegte Tragseil 18 kann mittels einer Winde 21 des Ladekrans 10 eingeholt oder gefiert/ausgelassen werden, um die Last L anzuheben oder abzusenken. Die wirksame Kraft der Winde 21 wird dann entsprechend über den Flaschenzug 20 übersetzt.The single figure of the drawing shows a schematic diagram of a ship or floating crane 2 designed with such a device according to the invention for sea wave compensation (HCS) 1, via which a load L is to be deposited on another ship or on the seabed 4 or on a platform anchored on this. The device 1 (motion compensation device, HCS) has a passive compensation device 6 and an active compensation unit 8, the specific structure of which is explained below. On the indicated floating crane 2, a loading crane 10 is mounted, which in a known manner has a plurality of stationary rollers (disks) 14a, 14b, 14c and a plurality of movable rollers (disks) 16a, 16b, 16c, which together with a Support rope 18 form a pulley block 20. The movable rollers 16 (loose part) are mounted on a roller block 22. The support cable 18, which is fixed with one end on the deck, can be hauled in or lowered / released around the load by means of a winch 21 of the loading crane 10 L to raise or lower. The effective force of the winch 21 is then translated accordingly via the pulley block 20.

Beim Ausführungsbeispiel gemäß der Figur ist am Rollenblock 22 ein Hydrozylinder 24 gehalten, der als Gleichgangzylinder ausgeführt ist. Ein Kolben 26 unterteilt das Innere des Hydrozylinders 24 in einen in Stützrichtung wirksamen Druckraum 28 und eine in Absenkrichtung wirksame Druckkammer 30. Der Druckraum 28 ist mit einer hydropneumatischen Speichereinheit 32 verbunden, die wie üblich als hydropneumatischer Kolbenspeicher mit einer oder mehreren nachgeschalteten Gasflaschen ausgebildet sein kann und durch die der Druckraum 28 mit einem Vorspanndruck beaufschlagt ist. Der Druckraum 28 und die hydropneumatische Speichereinheit 32 bilden eine Art Gasfeder. Die Druckkammer 30 kann mit einem Gas, zum Beispiel mit Stickstoff, gefüllt sein, wobei sie zur Vergrößerung des Gasvolumens mit einer Gasflasche in Verbindung stehen kann.In the embodiment according to the figure, a hydraulic cylinder 24 is held on the roller block 22 which is designed as a synchronous cylinder. A piston 26 divides the interior of the hydraulic cylinder 24 into a pressure chamber 28 acting in the support direction and a pressure chamber 30 acting in the lowering direction. The pressure chamber 28 is connected to a hydropneumatic storage unit 32, which, as usual, can be designed as a hydropneumatic piston accumulator with one or more downstream gas bottles and through which the pressure chamber 28 is acted upon with a preload pressure. The pressure chamber 28 and the hydropneumatic storage unit 32 form a type of gas spring. The pressure chamber 30 can be filled with a gas, for example nitrogen, and it can be connected to a gas cylinder to increase the gas volume.

Wie erläutert ist der Hydrozylinder 24 als Gleichgangzylinder ausgeführt. Eine lastseitige Kolbenstange 34 trägt die Last L, die beispielsweise über einen Kranhaken oder dergleichen an der Kolbenstange 34 befestigt ist. Die aus der Vorspannung resultierende Kraft entspricht bei ausgefahrener Kolbenstange 34 etwa dem Gewicht der zu bewegenden Last L. Diese wird in der Endlage etwa zu 100% kompensiert, in der Mittellage des Kolbens 26, wenn also der Druckraum 28 genauso groß wie die Druckkammer 30 ist, liegt eine Unterkompensation vor.As explained, the hydraulic cylinder 24 is designed as a synchronous cylinder. A load-side piston rod 34 carries the load L, which is fastened to the piston rod 34, for example, via a crane hook or the like. The force resulting from the preload corresponds approximately to the weight of the load L to be moved when the piston rod 34 is extended. This is approximately 100% compensated in the end position, in the middle position of the piston 26, i.e. when the pressure chamber 28 is the same size as the pressure chamber 30 , there is undercompensation.

Eine von der Last L entfernte Kolbenstange 36 des Kolbens 26 durchsetzt die Drucckammer 30 und ist über eine Konsole 38 mit einer weiteren losen/beweglichen Rolle 40 verbunden, die ebenfalls vom Tragseil 18 umschlungen ist. Im Wirkpfad des Flaschenzugs 20 benachbart zu der weiteren losen Rolle 40 sind deckseitig zwei feste Rollen 42, 44 vorgesehen, wobei das Tragseil 18 von der festen Rolle 42 zur Rolle 40 und von dieser zur Rolle 44 gelangt, über die das Tragseil 18 hin zu einer Aktivwinde 46 umgelenkt ist.A piston rod 36 of the piston 26 at a distance from the load L passes through the pressure chamber 30 and is connected via a bracket 38 to a further loose / movable roller 40 which is also wrapped by the support cable 18. In the path of action of the pulley block 20 adjacent to the further loose roller 40, two fixed rollers 42, 44 are provided on the cover side, the supporting cable 18 passing from the fixed roller 42 to the roller 40 and from this to the roller 44, via which the supporting cable 18 to a Active winch 46 is deflected.

Die Ansteuerung der beiden Winden 21 und 46 erfolgt mittels einer Regeleinheit 48 in Abhängigkeit von Messsignalen von Sensoren 50, 52, über die die von der jeweiligen Winde aufgebrachte Kraft und die wirksame Länge des Tragseils 18 oder die Längenänderung des Tragseils 18 aufgrund des Fierens oder Einholens des Tragseils 18 erfasst wird. Wie in der Figur angedeutet, werden die beiden Winden 21, 46 dann über die Regeleinheit 48 in Abhängigkeit von diesen Signalen angesteuert, um die erläuterten Kompensationsbewegungen zum Ausgleich des Seegangs zu steuern.The two winches 21 and 46 are controlled by means of a control unit 48 as a function of measurement signals from sensors 50, 52, via which the force applied by the respective winch and the effective length of the suspension rope 18 or the change in length of the suspension rope 18 due to the lowering or hauling in of the support cable 18 is detected. As indicated in the figure, the two winches 21, 46 are then controlled via the control unit 48 as a function of these signals in order to control the compensation movements explained to compensate for the swell.

Der festen Rolle 42 ist eine Bremse 54 zugeordnet, über die die Rolle 42 und auch das Tragseil 18 festgehalten werden können, so dass dann das durchgehende Tragseil 18 in eine die Rollen 40, 44 umschlingende, aktive Part 56 und eine die Rollen 14a, 16a, 14b, 16b, 14c, 16c umschlingende, passive Part 58 aufgeteilt ist. Bei eingerückter Bremse 54 wirkt die Rolle 42 sozusagen als deckseitiger Fixpunkt für die jeweilige Part 56, 58. Die aktive Part 56 kann dann über die aktive Winde 46 relativ zur passiven Part eingeholt oder gefiert werden, wobei die Rolle 40 relativ zu den Rollen 16a, 16b und 16c vertikal bewegt wird. Währenddessen wird die passive Part 58 als "normaler" Flaschenzug - ähnlich wie bei den herkömmlichen Lösungen - über die Winde 21 betätigt. Die Ansteuerung der Bremse 54 erfolgt wiederum über die Regeleinheit 48.A brake 54 is assigned to the fixed roller 42, via which the roller 42 and also the support cable 18 can be held, so that the continuous support cable 18 then turns into an active part 56 wrapping around the rollers 40, 44 and one around the rollers 14a, 16a , 14b, 16b, 14c, 16c wrapping, passive part 58 is divided. When the brake 54 is engaged, the roller 42 acts, so to speak, as a cover-side fixed point for the respective part 56, 58. The active part 56 can then be hauled in or lowered relative to the passive part via the active winch 46, with the roller 40 relative to the rollers 16a, 16b and 16c is moved vertically. Meanwhile, the passive part 58 is operated as a "normal" pulley block - similar to the conventional solutions - via the winch 21. The brake 54 is in turn activated via the control unit 48.

Wie in der Figur dargestellt ist, kann dem Hydrozylinder 24 ein Bypassventil 60 zugeordnet werden, über das der Druckraum 28 mit der Druckkammer 30 verbunden werden kann, so dass nur noch die aktive Kompensationseinheit 8 wirksam ist.As shown in the figure, a bypass valve 60 can be assigned to the hydraulic cylinder 24, via which the pressure space 28 can be connected to the pressure chamber 30, so that only the active compensation unit 8 is still effective.

Bei dem dargestellten Ausführungsbeispiel wirkt der Hydrozylinder 24 als Stellelement für die passive Kompensationseinrichtung 6 und die aktive Kompensationseinheit 8. Prinzipiell kann die Konsole 28 auch an einem weiteren Aktivzylinder angreifen, dessen Kolben/Kolbenstange dann parallel zum Hydrozylinder 24 an der Last L angreift.In the illustrated embodiment, the hydraulic cylinder 24 acts as an adjusting element for the passive compensation device 6 and the active compensation unit 8. In principle, the console 28 can also act on a further active cylinder whose piston / piston rod then acts on the load L parallel to the hydraulic cylinder 24.

Die Regeleinheit 48 ist so ausgelegt, dass die Einrichtung 1 zumindest in drei Betriebsarten angesteuert werden kann. In einer ersten Betriebsart, bei der die Last L lediglich in Richtung einer Zielposition abgesenkt oder angehoben wird und beispielsweise kein Seegang vorhanden ist, ist die Bremse 54 ausgerückt und die Aktivwinde 46 angehalten/gebremst, so dass diese den Fixpunkt des Tragseils 18 bildet. Die Anhebe- und Absenkbewegung erfolgt dann durch Ansteuerung der Winde 21, wobei dann die Rollen 14a, 14b, 14c, 42, 44 feste Rollen eines Flaschenzugs und die Rollen 16a, 16b, 16c und 40 die losen Rollen des Flaschenzugs ausbilden.The control unit 48 is designed such that the device 1 can be controlled in at least three operating modes. In a first operating mode, in which the load L is only lowered or raised in the direction of a target position and, for example, there is no swell, the brake 54 is disengaged and the active winch 46 is stopped / braked so that it forms the fixed point of the supporting rope 18. The raising and lowering movement is then carried out by controlling the winch 21, with the rollers 14a, 14b, 14c, 42, 44 then forming fixed rollers of a block and tackle and the rollers 16a, 16b, 16c and 40 forming the loose rollers of the block and tackle.

Bei einer Betriebsart, bei der die Last L bei Seegang in einer bestimmten Relativposition gehalten werden soll, wird die Bremse 54 eingerückt, so dass das Tragseil 18 oder genauer gesagt der Flaschenzug 20 in die beiden Parten 56, 58 unterteilt ist. Die Winde 21 ist dabei angehalten. Die passive Kompensation erfolgt über die durch die Speichereinheit 32 gebildete Gasfeder und die aktive Kompensation durch entsprechende Ansteuerung der Aktivwinde 46, über die die Rolle 40, die Konsole 38 und der Kolben 26 mitsamt den Kolbenstangen 34 und 36 durch entsprechendes Fieren oder Einholen/Dichtholen der aktiven Part 56 des Tragseils 18 relativ zum Gehäuse des Hydrozylinders 24 angehoben oder abgesenkt wird, wobei die Absenkbewegung im Wesentlichen durch die vorbeschriebene unterkompensierende Vorspannung ermöglicht ist. Die Bewegung der Teile ist in Figur 1 durch einen Doppelpfeil 62angedeutet.In an operating mode in which the load L is to be held in a certain relative position in rough seas, the brake 54 is engaged, so that the support cable 18 or, more precisely, the pulley block 20 is divided into the two parts 56, 58. The winch 21 is stopped. The passive compensation takes place via the gas spring formed by the storage unit 32 and the active compensation by corresponding control of the active winch 46, via which the roller 40, the console 38 and the piston 26 together with the piston rods 34 and 36 by corresponding lowering or retrieving / closing the active part 56 of the support rope 18 is raised or lowered relative to the housing of the hydraulic cylinder 24, the lowering movement being made possible essentially by the above-described undercompensating bias. The movement of the parts is in Figure 1 indicated by a double arrow 62.

In einer dritten Betriebsart erfolgt die Kompensation des Seegangs während des Anhebens oder Absenkens der Last L. Für diese Betriebsart wird ebenfalls die Bremse 54 eingerückt und beide Winden 21, 46 über die Regeleinheit 48 so gesteuert, dass zum einen die Absenk-/Anhebebewegung mit der vorbestimmten Geschwindigkeit erfolgt und zum anderen die durch den Seegang verursachten Relativbewegungen der Last L kompensiert werden. Diese Relativbewegungen sind wiederum durch den Doppelpfeil 62angedeutet.In a third operating mode, the swell is compensated while the load L is being raised or lowered. For this operating mode, the brake 54 is also engaged and both winches 21, 46 are controlled via the control unit 48 in such a way that, on the one hand, the lowering / raising movement with the predetermined speed takes place and on the other hand the relative movements of the load L caused by the sea are compensated. These relative movements are in turn indicated by the double arrow 62.

Da der Kraftfluss der aktiven Kompensationseinheit 8 und der passiven Kompensationseinrichtung 6 im Bereich des Flaschenzugs parallel läuft und dann in einem gemeinsamen Pfad über den Hydrozylinder 24 auf die Last L übertragen wird, kann ein Schwingen oder ein Verdrehen der Last L vermieden werden, wie es beispielsweise bei Lösungen auftreten kann, bei denen die aktive Kompensationseinheit und die passive Kompensationseinrichtung entlang von zwei getrennten Kraftwirkungspfaden an der Last L angreifen.Since the power flow of the active compensation unit 8 and the passive compensation device 6 runs in parallel in the area of the pulley block and then in a common one Path is transmitted to the load L via the hydraulic cylinder 24, oscillation or twisting of the load L can be avoided, as can occur, for example, in solutions in which the active compensation unit and the passive compensation device along two separate force action paths on the load L attack.

Ein weiterer Vorteil des beschriebenen Systems besteht darin, dass alle festen Rollen und alle losen Rollen jeweils im Wesentlichen in der gleichen Ebene liegen, so dass die dynamischen Belastungen im Flaschenzug 20 minimal sind, da alle Rollen mehr oder weniger in gleicher Weise belastet sind.Another advantage of the system described is that all fixed rollers and all loose rollers are each essentially in the same plane, so that the dynamic loads in the pulley block 20 are minimal, since all rollers are more or less loaded in the same way.

Die erfindungsgemäße Lösung kann durch Auswechseln des Tragseils 18 und Hinzufügen der aktiven Part 56 mit den Rollen 42, 44, 40 auf einfache Weise bei bestehenden Lösungen nachgerüstet werden.The solution according to the invention can easily be retrofitted to existing solutions by replacing the support cable 18 and adding the active part 56 with the rollers 42, 44, 40.

Bei dem Ausführungsbeispiel werden Winden (Winde 21, Aktivwinde 46) verwendet - prinzipiell können anstelle derartiger Winden auch andere Aktoren, beispielsweise Linearantriebe oder dergleichen verwendet werden.In the embodiment, winches (winch 21, active winch 46) are used - in principle, instead of such winches, other actuators, for example linear drives or the like, can also be used.

Das Tragseil kann im Bereich der Umlenkung als Kette oder sonstiges verschleißfestes Zugmittel ausgeführt sein. Der auf die Winden aufzuwickelnde Abschnitt kann auch aus hochfestem Kunststoff, bspw. Dyneema® ausgeführt sein. Der Hub der vorbeschriebenen aktiven Kompensationseinheit 8 entspricht vorzugsweise lediglich den durch Seegang/Dünung bewirkten Schiffsbewegungen (+ ca. 10m), so dass der Aktivaktor relativ klein ausgelegt werden kann.The support cable can be designed as a chain or other wear-resistant traction means in the area of the deflection. The section to be wound onto the winches can also be made of high-strength plastic, for example Dyneema®. The stroke of the above-described active compensation unit 8 preferably only corresponds to the ship movements caused by swell / swell (+ approx. 10 m), so that the active actuator can be designed to be relatively small.

Wie erläutert, ist die Anwendung der Einrichtung nicht auf die Kompensation von durch Seegang verursachten Bewegungen begrenzt sondern allgemein dort anwendbar, wo aufgrund äußerer Umstände verursachte Relativbewegungen einer Last kompensiert werden sollen. Die aktive Kompensationseinheit kann auch als mobile Lösung ausgeführt sein.As explained, the use of the device is not limited to the compensation of movements caused by swell, but can be used in general where the relative movements of a load caused by external circumstances are to be compensated. The active compensation unit can also be designed as a mobile solution.

Offenbart ist eine Seegangskompensationseinrichtung bei der eine Last über eine passive Kompensationseinrichtung und eine aktive Kompensationseinheit abgestützt ist, wobei ein Flaschenzug einer Hubeinrichtung sowohl der passiven Kompensationseinrichtung als auch der aktiven Kompensationseinheit zugeordnet ist.A swell compensation device is disclosed in which a load is supported via a passive compensation device and an active compensation unit, a pulley block of a lifting device being assigned to both the passive compensation device and the active compensation unit.

BezugszeichenlisteList of reference symbols

11
EinrichtungFacility
22
SchwimmkranFloating crane
44th
MeeresbodenSeabed
66th
passive Kompensationseinrichtungpassive compensation device
88th
aktive Kompensationseinheitactive compensation unit
1010
LadekranLoading crane
1414th
feste Rollefixed role
1616
lose Rolleloose role
1818th
TragseilSuspension cable
2020th
FlaschenzugPulley
2121st
WindeWinch
2222nd
RollenblockRoller block
2424
HydrozylinderHydraulic cylinder
2626th
Kolbenpiston
2828
DruckraumPrinting room
3030th
DruckkammerPressure chamber
3232
hydropneumatische Speichereinheithydropneumatic storage unit
3434
KolbenstangePiston rod
3636
KolbenstangePiston rod
3838
Konsoleconsole
4040
lose Rolleloose role
4242
feste Rollefixed role
4444
feste Rollefixed role
4646
AktivwindeActive winch
4848
RegeleinheitControl unit
5050
Sensorsensor
5252
Sensorsensor
5454
Bremsebrake
5656
aktive Partactive part
5858
passive Partpassive part
6060
BypassventilBypass valve
6262
DoppelpfeilDouble arrow

Claims (10)

  1. Device for lifting, lowering, or holding a load (L), having a compensation device for compensating relative moments of the load (L) in relation to a target position that are caused in particular by the motion of the sea, wherein the load (L) is able to be moved by a lifting device in the direction towards the target position or away from the latter and has stationary and floating rollers (14, 42, 44; 16, 40) which by way of a suspension rope (18) form a pulley block (20), wherein the suspension rope (18) can be hauled in or slackened by means of an actuator (21), and wherein a passive compensation device (6) which at least partially supports the weight of the load (L) is assigned to the lifting device, wherein an active compensation unit (8) which by way of a closed-loop control unit (48) is able to be actuated as a function of a relative movement of the load (L) is provided, wherein the suspension rope (18) by way of the rollers (14, 42, 44; 16, 40) is guided from the actuator (21) to an activator (46) of the active compensation unit (8), said activator (48) being able to be actuated independently of the actuator (21),
    characterized in that
    a brake (54) which is disposed on a roller (42) of the pulley block (20) is provided for holding tight the suspension rope (18) such that a passive part (58) of the suspension rope (18) extends from the roller (42) to the actuator (21), and an active part (56) extends from the roller (42) to the activator (46) .
  2. Device according to Patent Claim 1, wherein the actuator is embodied as a winch (21) and the activator is embodied as an active winch (46), and wherein the roller (42) is assigned the brake (54) by way of which the suspension rope (18) can be held tight such that the passive part (58) of the suspension rope (18) extends from the roller (42) to the winch (21), and the active part (56) of the suspension rope (18) extends from the roller (42) to the active winch (46).
  3. Device according to Patent Claim 1 or 2, wherein the brake (54) engages on a stationary roller (42).
  4. Device according to one of the preceding patent claims, wherein the passive compensation device (6) has a hydraulic cylinder (24), the piston (26) thereof delimiting a pressurized chamber (28) which is effective in the direction of support and is operatively connected to an accumulator unit (32), wherein the load (L) engages on a piston rod (34) of the piston (26).
  5. Device according to Patent Claim 4, wherein the preload in the pressurized chamber (28) that is determined by the pressure in the accumulator unit (32) is chosen such that the weight of the load (L) is approximately compensated for in the case of a deployed piston rod (34).
  6. Device according to Patent Claim 4 or 5, wherein the hydraulic cylinder (24) is embodied as a double-rod cylinder, and the active part (56) engages on that piston rod (36) that is distal from the load (L).
  7. Device according to Patent Claim 4, 5, or 6, wherein the floating rollers (16) that are assigned at least to the passive part (58) engage on a roller block (22) that supports the hydraulic cylinder (24), and the at least one floating roller (40) that is assigned to the active part (56) engages on a piston rod (36).
  8. Device according to one of the preceding patent claims, and having sensors (50, 52) for detecting the effective suspension rope length and the winch force, wherein the closed-loop control unit (48) serves for actuating the actuators as a function of the detected measured values.
  9. Device according to one of the preceding patent claims, and having a bypass valve (60) for relieving the pressure of the pressurized chamber (28).
  10. Device according to one of the preceding patent claims, wherein the closed-loop control unit (48) is conceived for controlling the device at least according to the following operating modes:
    - lifting or lowering the load (L) by actuating the actuator and stopping the activator;
    - compensating a relative movement of the load (L) in relation to the target position that is caused by the motion of the sea or by a swell by applying the brake (54) and actuating the activator and stopping the actuator; and
    - lifting and lowering the load (L) and herein compensating a relative movement of the load (L) in relation to the target position that is caused by the motion of the sea or by a swell by applying the brake (54) and actuating the actuator and the activator.
EP17167045.8A 2016-08-30 2017-04-19 Device for lifting, lowering or holding a load Active EP3290382B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016216259 2016-08-30

Publications (2)

Publication Number Publication Date
EP3290382A1 EP3290382A1 (en) 2018-03-07
EP3290382B1 true EP3290382B1 (en) 2021-01-06

Family

ID=58672324

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17167045.8A Active EP3290382B1 (en) 2016-08-30 2017-04-19 Device for lifting, lowering or holding a load

Country Status (2)

Country Link
EP (1) EP3290382B1 (en)
DE (1) DE102017206590A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111762690B (en) * 2020-06-30 2022-03-11 深装总建设集团股份有限公司 Device and method for vertically hanging and horizontally moving multiple metal net curtains in place in large space

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4021019A (en) 1975-03-24 1977-05-03 British Columbia Research Council Heave compensating cranes
FR2344490A1 (en) 1976-03-18 1977-10-14 Elf Aquitaine DEVICE FOR COMPENSATION OF VARIATIONS IN DISTANCE BETWEEN AN OBJECT FLOATING ON WATER AND THE BOTTOM OF IT
DE102005058952A1 (en) 2005-04-04 2006-10-05 Bosch Rexroth Ag Hydraulic heave compensation device for marine engineering, has compensation system with hydropneumatic storage supporting load and active cylinder device integrated in hydropneumatic storage
US7934561B2 (en) 2007-04-10 2011-05-03 Intermoor, Inc. Depth compensated subsea passive heave compensator
CN102630211B (en) * 2009-09-18 2015-04-15 伊特里克公司 Lifting device
EP2896589B1 (en) 2014-01-17 2016-10-19 SAL Offshore B.V. Method and apparatus
DE102015225936A1 (en) 2015-01-14 2016-07-14 Robert Bosch Gmbh Device for lifting, lowering or holding a load and method for controlling such a device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

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DE102017206590A1 (en) 2018-03-01

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