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 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.

The present invention relates to a blade positioning system configured for positioning wind turbine blades at a hub of a nacelle of a wind turbine from an installation vessel at an offshore location, the blade positioning system comprising: the installation vessel comprising: — at least one lifting device configured for lifting wind turbine components, and — an auxiliary support tower extending upwardly from the installation vessel, the auxiliary support tower comprising: o a nacelle support for supporting the nacelle, o a root end moving assembly defining a guide path which extends over a vertical distance, the root end moving assembly comprising a movable root end support base and a root end support configured for supporting and guiding the root end of the blade, the root end support being connected to the movable root end support base, the root end support being movable along the guide path, the root end moving assembly being configured for moving the root end of the blade along the guide path from the engagement position to an installation position, the at least one lifting device being configured for lifting the nacelle onto the auxiliary support tower, wherein the at least one lifting device and the root end moving assembly are configured to jointly support and jointly move the blade upwards towards the hub, wherein during the movement the root end is supported by the root end support and the lifting device carries a majority of the vertical loads on the blade.

The present invention relates to a blade positioning system configured for positioning wind turbine blades at a hub of a nacelle of a wind turbine from an installation vessel at an offshore location, the blade positioning system comprising: the installation vessel comprising: — at least one lifting device configured for lifting wind turbine components, and — an auxiliary support tower extending upwardly from the installation vessel, the auxiliary support tower comprising: o a nacelle support for supporting the nacelle, o a root end moving assembly defining a guide path which extends over a vertical distance, the root end moving assembly comprising a movable root end support base and a root end support configured for supporting and guiding the root end of the blade, the root end support being connected to the movable root end support base, the root end support being movable along the guide path, the root end moving assembly being configured for moving the root end of the blade along the guide path from the engagement position to an installation position, the at least one lifting device being configured for lifting the nacelle onto the auxiliary support tower, wherein the at least one lifting device and the root end moving assembly are configured to jointly support and jointly move the blade upwards towards the hub, wherein during the movement the root end is supported by the root end support and the lifting device carries a majority of the vertical loads on the blade.

The invention relates to a rotator (100) for a tool, such as a as a jib-carried tool. The rotator (100) comprises: a stator (102); a rotor (104) rotatably arranged inside the stator (102); a bearing (112) configured to carry an external load (L); a lower link (150) for attaching a tool (200) to the rotator (100); and a load cell (180) arranged between the bearing (112) and the lower link (150), wherein the load cell (180) is configured to indicate the external load (L). Thereby, a rotator (100) compact in its axial extension can be provided.

The invention relates to a rotator (100) for a tool, such as a as a jib-carried tool. The rotator (100) comprises: a stator (102); a rotor (104) rotatably arranged inside the stator (102); a bearing (112) configured to carry an external load (L); a lower link (150) for attaching a tool (200) to the rotator (100); and a load cell (180) arranged between the bearing (112) and the lower link (150), wherein the load cell (180) is configured to indicate the external load (L). Thereby, a rotator (100) compact in its axial extension can be provided.

There is provided a method for controlling a crane, with which the position of a hook is automatically adjusted before lift-off, where a freely-derricking telescopic boom is provided to a swivel base, a main hook is suspended with a main wire rope from a distal end section of the telescopic boom, and a suspended load is suspended on a main hook with slinging wire ropes, wherein post-slinging lift-off is preceded by a hook position adjustment control involving repeating: a first process where the control device controls so as to reel in the main wire rope to a position where the main wire rope is tensed; and a second process where the control device controls so as to move the distal end section of the telescopic boom in the same direction of a horizontal direction component of the movement of the main hook in the first process.

A load orienting device and method of operating the load orienting device are disclosed. The load orienting device includes a frame, first and second posts disposed on the frame, and first and second propellers disposed on the first and second posts, respectively. The first and second posts are movable to adjust a distance between the first and second propellers and a controller operates the first and second propellers to adjust an orientation of the load orienting device relative to a vertical axis of the load orienting device.

A load orienting device and method of operating the load orienting device are disclosed. The load orienting device includes a frame, first and second posts disposed on the frame, and first and second propellers disposed on the first and second posts, respectively. The first and second posts are movable to adjust a distance between the first and second propellers and a controller operates the first and second propellers to adjust an orientation of the load orienting device relative to a vertical axis of the load orienting device.

A rotor hanging tool includes a beam extending in parallel to an axial direction above a rotor main body, a pair of ring support portions disposed at an interval in the axial direction, connected to the beam, and attachable to and detachable from a support ring, a pair of rotor support portions disposed at an interval in the axial direction, connected to the beam, attachable to and detachable from the rotor main body at positions different from the ring support portions in the axial direction, and respectively supporting the rotor main body from below, and a vertical position adjustment unit for adjusting a position of each of the rotor support portions in a vertical direction with respect to the beam.