The present invention relates to an assembly for installing a pile (2) in a seabed (3), the assembly comprising a vessel (23) comprising a positioning system for keeping the vessel (23) at an installation location relative to the seabed, the positioning tem (5) having a positioning stiffness (7); a pile guiding system configured to guide the pile (2) during installation thereof, the pile guiding system comprising a base (9) provided on the vessel; a first guiding device connected to the base, the first guiding device being configured to accommodate the pile during installation thereof; a resilient member (11) for providing a resilient connection between the vessel (23) and the pile during installation thereof for allowing relative motions between the pile (2) and the vessel (23), the resilient member having a connection stiffness, wherein the resilient member (11) is configured and intended to keep a natural period of a pivoting movement of the pile about the seabed caused by waves during installation thereof longer than a dominant wave period of a wave spectrum at the installation location by providing the resilient connection with a low connection stiffness.

A controller controls a plurality of drives of a lifting device, wherein the controller is configured to perform a kinematic transformation of spatial position and orientation coordinates of a body and controls the drives based on the kinematic transformation. The drives can be electric drives. At least six drives are provided and regulated, so that their number exceeds the number of spatial position and orientation coordinates of the body. The lifting device is thus overdetermined.

A lifting hook bias angle monitoring apparatus, a vertical hoisting monitoring apparatus, and a mobile crane. One method is that a lifting hook assembly serially connects connecting plates (b3) provided with hinge connection shafts (b2, b4) at two ends to a movable pulley component (b1) which bears a pulling force and a lifting hook component (b7) which bears a pulling force, and is also provided with a biaxial inclinometer (b9) on a platform surface (b8) of the connecting plates (b3) which is perpendicular to a lifting force line of action of the lifting pulley component, so as to detect a real-time lifting hook bias angle, and accordingly be developed into a mobile crane having a vertical hoisting monitoring function.

The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity v.sub.m and maximum acceleration a.sub.m of the trolley; establishing a dynamic model of the hoisting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the hoisting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.

A hydraulic system (600) and method for reducing boom dynamics of a boom (30), while providing counter-balance valve protection, includes a hydraulic actuator (110), first and second counter-balance valves (300, 400), first and second control valves (700, 800), and first and second blocking valves (350, 450). A net load (90) is supported by a first chamber (116, 118) of the hydraulic actuator, and a second chamber (118, 116) of the hydraulic actuator may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The first blocking valve prevents the fluctuating hydraulic fluid flow from opening the first counter-balance valve. The first blocking valve may drain leakage from the first counter-balance valve.

A dynamic lift-off control device that is mounted on a crane including a boom and a winch for winding a wire rope and that controls dynamic lift-off of a suspended load, wherein: the dynamic lift-off control device comprises a load detection unit that detects a load acting on the boom, and a control unit that controls a winding action of the winch and a hoisting action of the boom; and the control unit controls the hoisting of the boom by using a control signal, which is generated on the basis of the change over time in the value detected by the load detection unit and to which a filter for attenuating a frequency component in a prescribed range, to suppress swaying of the suspended load is applied.

A fixing device that fixes a lower end portion of a suspension belt to a holding portion is provided with a shaft-like portion with an axial direction aligned with a horizontal direction; a fixing portion where the lower end portion of the suspension belt is fixed is provided on an outer circumferential surface of the shaft-like portion; a region of the outer circumferential surface on one side of a virtual vertical surface that runs through an axial center of the shaft-like portion is defined as a first region and a region of the outer circumferential surface on the other side of the virtual vertical surface is defined as a second region; the fixing portion is provided in the first region; and the suspension belt extending from the fixing portion is disposed running through a lowest portion of the outer circumferential surface and running along the second region and upward.

A device for lifting and stabilizing loads which can be stabilized via two crossing, pivotably articulated telescopic struts that are interconnected in a synchronized manner so as to counter undesirable length variations as a result of forces acting in the cross-beam longitudinal direction, wherein connection of the telescopic struts is established via five traction parts, wherein one first traction part in the internal tube of each telescopic strut is mounted at both ends via a respective inner disk and outer disk, where a second traction part is mounted on two rotatable disks horizontally between the telescopic struts, where disks of the respective first and second traction parts each situated on one side are kinetically interconnected to transmit rotational movements between both disks, and where one further traction part is fastened in external tube, the further form-fitting traction part being kinetically connected to the inner disk of the first traction part.

A device for lifting and stabilizing loads includes a frame and a cross-beam arranged below the frame, wherein the device receives the load and, via lifting structure fastened to the cross-beam, is adjustable for height and can be stabilized via two crossing telescopic struts, where one internal tube and one external tube are interconnected, connection of the telescopic struts is established via three form-fitting traction parts, one first form-fitting traction part in the internal tube of a telescopic strut is mounted at both ends via respective inner and outer disks, a third form-fitting traction part is mounted on two rotatable disks, the disks of the respective first and third traction parts situated on one side are interconnected such that rotational movements between both disks are transmittable, and where the respective first form-fitting traction part is fastened on the inner wall of the two external tubes.

A device for lifting and stabilizing loads includes a frame and a cross-beam arranged below the frame, wherein the device receives the load and, via lifting structure fastened to the cross-beam, is adjustable for height and can be stabilized via two crossing telescopic struts, where one internal tube and one external tube are interconnected, connection of the telescopic struts is established via three form-fitting traction parts, one first form-fitting traction part in the internal tube of a telescopic strut is mounted at both ends via respective inner and outer disks, a third form-fitting traction part is mounted on two rotatable disks, the disks of the respective first and third traction parts situated on one side are interconnected such that rotational movements between both disks are transmittable, and where the respective first form-fitting traction part is fastened on the inner wall of the two external tubes.