Provided is a lifting arrangement configured to facilitate alignment of a load with a wind turbine assembly. The lifting arrangement includes a crane arrangement for hoisting the load to the wind turbine assembly, a tagline arrangement for stabilizing the load during a lifting manoeuvre, a sensor arrangement configured to detect a motion of the wind turbine assembly relative to the load during the lifting manoeuvre, an actuator arrangement for adjusting the position of the load relative to the wind turbine assembly, and a control arrangement for controlling actuators of the actuator arrangement to reduce the detected relative motion. Also provided is a method of aligning a load with a wind turbine assembly.

Systems, apparatuses, and methods for a load control system for use on or with respect to a main load bearing line, carrier hook, and or head block of a crane, wherein the load control system may maintain tension on the load via a winch control line and a winch, wherein the tension may allow improved control over the load by the load control system.

A method of upgrading a knuckle-boom crane to a heave-compensating crane includes: removing a knuckle-boom from a main boom; mounting a main boom extension to the main boom for increasing the length of the main boom; and mounting a heave-compensating boom at a far end of the main boom extension such that the heave-compensating boom extends in a downward vertical direction (Z) in operational use of the heave-compensating crane. The heave-compensating boom is configured to be pivotable with respect to the main boom extension in both horizontal directions (X, Y). A heave-compensation system is provided to the knuckle-boom crane, wherein the heave-compensation system compensates for horizontal variations by controlling the orientation of the heave-compensating boom relative to the main boom extension, and compensates for vertical variations by means of a further vertical heave-compensation system, such as a winch-based heave-compensation system.

A method of upgrading a knuckle-boom crane to a heave-compensating crane includes: removing a knuckle-boom from a main boom; mounting a main boom extension to the main boom for increasing the length of the main boom; and mounting a heave-compensating boom at a far end of the main boom extension such that the heave-compensating boom extends in a downward vertical direction (Z) in operational use of the heave-compensating crane. The heave-compensating boom is configured to be pivotable with respect to the main boom extension in both horizontal directions (X, Y). A heave-compensation system is provided to the knuckle-boom crane, wherein the heave-compensation system compensates for horizontal variations by controlling the orientation of the heave-compensating boom relative to the main boom extension, and compensates for vertical variations by means of a further vertical heave-compensation system, such as a winch-based heave-compensation system.

Disclosed are systems, apparatuses, and methods for a suspended load control system for use on or with respect to a main load bearing line, carrier hook, and or head block of a crane.

A heave compensator includes a main hydraulic cylinder including a first connection device located at an upper end of the main hydraulic cylinder and a first piston having a piston rod. The interior of the main hydraulic cylinder is divided by the first piston into an upper first chamber and a lower second chamber filled with hydraulic liquid. The piston rod has a second connection device located at a lower end of the piston rod. The heave compensator includes a lifting accumulator comprising a second piston dividing the interior of the lifting accumulator into a third chamber filled with gas and a fourth chamber filled with hydraulic liquid. The fourth chamber is fluidly connected to the second chamber by a first liquid conduit having a first actuator controlled valve regulating the flow of hydraulic liquid in the first liquid conduit. The heave compensator includes a lowering accumulator comprising a third piston dividing the interior of the lowering accumulator into a fifth chamber filled with gas and a sixth chamber filled with hydraulic liquid. The sixth chamber is fluidly connected to the second chamber by a second liquid conduit having a second actuator controlled valve regulating the flow of hydraulic liquid in the second conduit. The sixth chamber is fluidly connected to the fourth chamber by a third hydraulic liquid conduit comprising an actuator controlled pump unidirectionally regulating the flow of hydraulic liquid from the sixth chamber to the fourth chamber. The heave compensator further includes a sensor kit including a motion sensing unit registering the vertical movements of the main hydraulic cylinder, a logical controller unit including a processor loaded with a Valve Regulation Module containing logic commands which when executed controls and regulates the actuator of the first actuator controlled valve, the actuator of the second actuator controlled valve, and the actuator of the actuator controlled pump, and signal transferring lines electronically connecting the logic controller unit to the motion sensing unit of the sensor kit, the actuators of the first and the second actuator controlled valves, and the actuator of the actuator controlled pump.

A compensated elevator link is disclosed. In at least one aspect, the compensated elevator link comprises a plurality of cylinder housings and a rod having a plurality of ends, each end comprising a piston head adapted to be slideably received within one of the cylinder housings for defining first and second hydraulic cylinders. Each hydraulic cylinder has at least one annulus for receiving a non-compressible fluid. The rod comprises a passage for receiving a compressible fluid, wherein each piston head comprises at least one passage to allow selective displacement of the non-compressible fluid between the annulus of the cylinder housing and the passage within the rod during selective displacement of the hydraulic cylinders between a contracted condition to an extended condition for either compression or expansion of the compressible fluid by the non-compressible fluid.

A compensated elevator link is disclosed. In at least one aspect, the compensated elevator link comprises a plurality of cylinder housings and a rod having a plurality of ends, each end comprising a piston head adapted to be slideably received within one of the cylinder housings for defining first and second hydraulic cylinders. Each hydraulic cylinder has at least one annulus for receiving a non-compressible fluid. The rod comprises a passage for receiving a compressible fluid, wherein each piston head comprises at least one passage to allow selective displacement of the non-compressible fluid between the annulus of the cylinder housing and the passage within the rod during selective displacement of the hydraulic cylinders between a contracted condition to an extended condition for either compression or expansion of the compressible fluid by the non-compressible fluid.

Disclosed are systems, apparatuses, and methods for a load control system for use on or with respect to a main load bearing line, carrier hook, and or head block of a crane.

A wave-induced motion compensating crane includes a hoist assembly. At least two departure sheaves are mounted at opposite lateral sides of the jib. The object suspension device is supported both by two hoist cables extending laterally from the jib and a third hoist cable that runs via another departure sheave. The hoist assembly is adapted to hoist and/or lower the object suspension device with an object connected thereto, between a lower position and a position at a height up to the departure sheaves while the hoist cables together define a reverse pyramid, diverging upwards in between the object suspension device and the departure sheaves.