EP0767750B1 - Verfahren zum manipulieren eines verbindungselementes in der schifffahrt - Google Patents

Verfahren zum manipulieren eines verbindungselementes in der schifffahrt Download PDF

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Publication number
EP0767750B1
EP0767750B1 EP95904041A EP95904041A EP0767750B1 EP 0767750 B1 EP0767750 B1 EP 0767750B1 EP 95904041 A EP95904041 A EP 95904041A EP 95904041 A EP95904041 A EP 95904041A EP 0767750 B1 EP0767750 B1 EP 0767750B1
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EP
European Patent Office
Prior art keywords
manipulator
tow
connecting element
coupling
assembly according
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Expired - Lifetime
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EP95904041A
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English (en)
French (fr)
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EP0767750A1 (de
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Sven Olaf Aarts
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Individual
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Individual
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring

Definitions

  • This invention relates to a method according to the preamble of claim 1. Such a method is known from US-4,729,332.
  • Conventional connecting elements are cables and chains, and optionally bars, one end of which being firmly attached to the tug, and the other end being provided with e.g. a loop or hook, which can be fastened around a bollard, a cleat, a towing hook or a towing eye and the like.
  • a tug is maneuvered to near the tow, or the tow to near the tug, after which, in general, the free end of the connecting element is transferred from the tug to the tow.
  • various methods are used.
  • the free end of the connecting element can be attached to a thin rope, the so-called heaving line, after which the free end of the heaving line is thrown over or shot at the tow by means of a rocket or such projectile, or is sailed to the tow by means of a small boat and brought on board via a ladder.
  • the usually heavy connecting element is then pulled towards the tow, optionally by means of one or more thicker intermediate cables, until its free end is brought on board the tow.
  • This free end is then secured on board the tow by a number of people, e.g. by lifting a loop formed at the fastening element over a bollard by manual effort or by passing it through an eye and fastening it thereto.
  • connecting elements between a tug and a tow, using, e.g., magnets or suction cups to be placed on the skin of the tow, which magnets or suction cups are connected with a cable and the like.
  • These connecting elements must remain energized continuously during the fastening period, because otherwise the connection is broken so that these connecting methods are not suitable for a prolonged attachment.
  • an (electro)magnet has the drawback that it causes large electric and magnetic fields. Since ships are in general earthed to the body, this may cause great damage to the electric installations of the tow.
  • the use of electricity is very dangerous in the vicinity of, in particular, tankers.
  • U.S. 4,729,332 describes an apparatus and a method of mooring a ship along a quay or the like, comprising a spherical coupling member fastened to a first cable and capable of being caught behind a bollard on a ship, which coupling member can be positioned behind the bollard by means of a second cable fastened to a crane. Positioning of the coupling matter is only possible from a top side and is chiefly accomplished under the action of gravity. These coupling apparatus and method are not useful for coupling a tugboat to an object to be towed.
  • the coupling member When using such an apparatus and method, especially in heavy weather, the coupling member will be going to swing relative to the bollard, while, moreover, the bollard will move up and down and to and fro relative to the crane and, consequently, relative to the coupling member.
  • the coupling member will not be fastened behind the bollard without the aid of people aboard the object to be towed. But the use of manpower aboard the object to be towed should, for the above reasons, be prevented.
  • a crane from the prior art assembly should be very high in order to reach from a relatively low tug to far above a deck of a relatively high tow. This means that in case of a relatively slight movement of the tug about one of its axes the crane would perform enormous movements at its free end. With the manipulator according to the invention this is simply prevented or at least becomes compensable.
  • the object of the invention is to provide a method of the type described in the opening paragraph, in which the drawbacks of the known methods are avoided and the advantages thereof are maintained.
  • the method according to the invention is characterized by the characterizing part of claim 1.
  • the connecting element is gripped directly, that is in direct contact, and picked up from the tow with a manipulator and is then transferred by means of the manipulator from the tug to the tow, or from the tow to the tug, without the help of people in a direct sense, i.e. for operations other than control.
  • a further advantage of the method according to the invention is that a connection between the tow and the tug can be made with fewer people so that a clear economic advantage is obtained
  • the coupling element after fastening to the object to be towed, can be released by the manipulator, the distance between the tug and the object to be towed can be enlarged or reduced as required. At least partial retraction of the manipulator ensures that the connecting element has sufficient freedom of movement and is not hindered by the manipulator, nor by, e.g., personnel. Accordingly, the manipulator cannot be damaged, though it is capable of following and, if required, controlling movements of the connecting element.
  • this method has the advantage that the manipulator can bring the free end of the connecting element picked up to the desired position in a very direct way, irrespective of the weather. This means that even in heavy seas and strong winds the connection between the tow and the tug can be made and broken with no danger to bystanders, also against the direction of the wind. This has the further advantage that when breaking the connection the connecting element does not fall loosely into the water, which is of great importance, in particular near the ship's propellers of a tow and a tug.
  • a method according to the invention is characterized by claim 2.
  • a connection can be made and broken by means of the manipulator, so that the whole method can be carried out from, e.g., the tug, with no necessity of manning the tow, but even so, the connecting element is safely moved, fastened and unfastened.
  • this method gives the advantage that the connecting element need not be gripped by man-power, so that the risk of accidents is minimized, the more so as the connecting element need not get loose from the manipulator at any moment.
  • a method according to the present invention is characterized by the features of claim 3. This enables a safe and good control of the manipulator whatever the circumstances.
  • the fastening element can be arranged in a very favorable position, in particular near the waterline of the tow. In general, the tow will rise above the surface of the water much more than the tug. In the known methods of fastening the connecting element this means that the connecting element slopes steeply, which results in a very unfavorable load.
  • the connecting element may slope less steeply or even extend in a nearly horizontal direction so as to obtain an optimum load characteristic of the tow, the tug, the connecting element, and the fastening elements.
  • a manipulator is placed on a mooring installation in a suitable position and the connecting element is coupled to the tow, after which by means of the connecting element provided by the manipulator the tow is pulled closer to the mooring installation and then secured thereto. Since the manipulator is placed on the mooring installation, the tow can be pulled continuously in a favorable direction. For instance, when mooring a seagoing ship in the longitudinal direction of a quay, it can always be pulled at about right angles to the longitudinal direction, so that the ship can be pulled towards the mooring installation parallel thereto. On the side facing away from the mooring installation the ship may then be slowed down a little by tugboats, if necessary.
  • a number of manipulators is used simultaneously.
  • the invention further relates to an assembly according to the preamble of claim 7.
  • the assembly according to the invention is characterized by the features of the characterizing part of claim 7.
  • a connection between a tug and a tow can be very accurately and economically established and/or broken without any danger for the material or people involved, uninfluenced of the weather conditions and differences in size of the tug and the tow.
  • the manipulator and the gripper element are designed for such manipulation of the connecting element that a coupling between the connecting element and the tow can be made and broken without human intervention other than for controlling the manipulator.
  • connection can be made and broken in a rapid and effective manner with the help of few people and within a short time. It is thus possible to work safely at relatively low cost.
  • the manipulator is characterized by the features of claim 12.
  • the manipulator can be brought to an optimum position relative to the tow and the tug, while, simultaneously, the overpressure protections prevent the manipulator from coming into such contact with the tug or the tow as to cause damage, e.g. as a result of an unexpected movement of the tug relative to the tow owing to the motion of the sea.
  • the winch according to the invention is provided with a control mechanism and a coiling reel, the control mechanism comprising running rollers, and the connecting element extending, at least in use, from the coiling reel through the running rollers.
  • the running wheels are provided with a pressing mechanism for exerting a frictional force via the running rollers on the connecting element, the pressing mechanism being adjustable in such a manner that, in use, the tension in the connecting element is independent of the quantity of connecting element wound on the coiling reel.
  • a constant tension can be applied to the connecting element, which tension can be predetermined and optionally adapted during use, and which tension is independent of the length of the connecting element wound on the coiling reel.
  • the tension in the connecting element is independent of the diameter of the coiling reel with the part of the connecting element wound thereon. Consequently, the pressing mechanism can be of simple design, since no compensation for the diameter of the coiling reel is necessary and, moreover, the coiling reel may be of less heavy construction, since the running rollers receive a relatively large part of the tension in the connecting element.
  • the coupling assembly according to the invention comprises at least a connecting element that can be connected at one side to a tug.
  • the coupling assembly according to the invention has the advantage that a coupling can be easily made therewith by inserting the male part connected to the connecting element in the female part, with no further operations being required to make the connection. Consequently, this coupling assembly is eminently suited for use in the assembly according to the invention, because by means of the manipulator the male part can be easily placed in the female part.
  • the convex surface of the male part has the advantage that it can rotate to some degree within the recess in the female part, so that the connecting element can always extend mainly in a favorable direction of pulling. Thus, chafing of the connecting element along the tow is largely avoided.
  • connection made can be broken in an easy, rapid and safe way with no necessity of people coming close to the fastening element.
  • the connection can be directly broken, e.g. from the tug or the bridge of the tow, thus preventing accidents, and moreover, preventing the necessity of the tow being slowed down or coming to a standstill.
  • a connection made by means of, e.g., a coupling assembly according to the invention provided with a push-out cylinder can be broken at relative high speeds and whatever the circumstances, without causing danger to the safety of the tow or the tug, and moreover, such a connection can be made at relative high speeds and whatever the circumstances.
  • Fig. 1 shows a ship 1 to be towed and a tugboat 2.
  • the ship 1 is provided with a bollard 5 disposed near the bow 3 on a deck 4 thereof.
  • the tugboat is equipped with a manipulator 6 and a connecting element 7 extending therefrom, e.g. a cable, a chain or a webbing.
  • the connecting element 7 is provided with a loop 8 which can be thrown around the bollard 5 so as to make a firm connection between the ship 1 and the tugboat 2.
  • the manipulator 6 is provided with a winch 9 and an articulated arm 10, which are placed together on a turntable 11, thus enabling rotation of the manipulator around an axis of rotation extending substantially at right angles to the deck 12 of the tugboat 2.
  • the articulated arm 10 consists of six arm portions 13 a-f hinged together and is provided at the free end with a gripper 14. It will be clear that more or fewer arm portions are also possible.
  • the connecting element 7 extends from the winch 9 along or through the arm portions 13 a-f of the articulated arm 10 beyond the gripper 14, in such a manner that at least the loop 8 reaches out of the manipulator 6.
  • the manipulator can be controlled directly, e.g.
  • Remote control of the manipulator has the advantage that a good survey of the various movements of the ship 1, the tugboat 2, the manipulator 6 and the connecting element 7 can be obtained without running the risk of accidents.
  • a connection between the ship 1 and the tugboat 2 can be made as follows.
  • the ship 1 is sailed to near the tug 2 or, the other way round, the tug to near the ship, the articulated arm 10 being kept in a compact position. Then the articulated arm 10 is brought to an at least partially stretched position, as shown in Fig. 1, and the free end is moved upwards to locate the gripper 14 above the level of the deck 4 of the ship 1.
  • the connecting element 7 is nearly completely wound on the winch 9, so that only the loop 8 extends out of the articulated arm 10 and is held by the gripper 14.
  • the gripper 14 is then manipulated to move the loop 8 over and fasten it around the bollard 5.
  • the connection is made without people on board the ship 1 or the tugboat 2 having touched the connecting element 7 in any manner whatever or without so much as having to approach it.
  • this method according to the invention minimizes the risk of accidents during making connections between a ship 1 and a tugboat 2, while, furthermore, the connection can be made rapidly and accurately with a minimum of people, e.g. also in the absence of people on board the ship.
  • the connecting element 7 is released by the gripper 14 and the possibilities of movement of the articulated arm 10 and the turntable 11 are released so that the connecting element 7 can be pulled and kept taut, only by means of the winch 9.
  • the tugboat 2 can then even sail away from the ship 1 some distance, while it simultaneously pays out the connecting element 7.
  • the manipulator 6 will easily follow the movements of the connecting element 7 so that the load of the manipulator 6 is confined to a minimum during towing of the ship and chafing of the connecting element 7 is largely prevented.
  • a reverse method can be used.
  • the articulated arm 10 is maneuvered to enable the gripper 14 to take hold of the loop 8 again.
  • the loop 8 can be taken from the bollard 5 by means of the manipulator 6, and the connection is broken.
  • the articulated arm 10 is then retired, and the tugboat 2 can recede from the ship 1. Since the loop 8 is always controlled by the manipulator 6 before, during and after making and breaking the connection, the connecting element is prevented from being loose in the water at any moment, thus avoiding that the connecting element can get entangled with a propeller of the ship 1 or the tugboat 2, or can otherwise hinder the movements thereof. Even when the connecting element must unexpectedly be cut in case of a calamity, it can be easily prevented from falling loose into the water. Moreover, the connecting element is thus prevented from becoming entangled.
  • connection During the making or breaking of the connection the two ships need not be brought to a standstill. Even at relatively high speeds (e.g. 12 knots) the connection can be safely and rapidly made or broken by means of the manipulator 6. This has the important advantage that little time and energy are lost and that, moreover, the risk of accidents is minimized.
  • the figure shows embodiments of the manipulator in which the connecting element 7 extends through or along the manipulator 6 and is wound on or unwound from a winch 9 connected with the manipulator.
  • the manipulator pick up a connecting element which lies free on the deck of a tugboat or on a deck of a ship. It is even possible to pick up such a connecting element from a mooring installation, e.g. a quay.
  • the connecting element is simply picked up by means of the gripper 14 and with the connecting element thus picked up a connection can be made, as described above, between a tugboat or a quay and a ship.
  • This has the advantage that with only one tugboat 2 equipped with a manipulator connections can be made between a ship and different conventionally equipped tugboats or a quay.
  • Such a connection can also be made from a ship equipped with a manipulator according to the invention.
  • Figs. 2 and 3 show a mooring installation in the form of a quay 115, provided with manipulators 106 arranged for movement relative to the quay.
  • the manipulator 106 shown in Fig. 4 is provided with a turntable 111, a winch 109, an articulated arm 110 and a gripper 114.
  • the manipulator 106 is placed on a movable frame 116, shown in the figure in a strongly simplified form.
  • the articulated arm consists of a number of arm portions 113 telescopically adjustable relative to each other, the lowermost arm portion 113a being slewably connected to a foot part 117.
  • a gripper arm 118 is slewably connected at one end with the uppermost arm portion 113e and at the other ende with the slewable gripper 114.
  • the connecting element 107 which preferably consists of a flat webbing, extends from the winch 109 via a pressing mechanism 119 through the articulated arm 110 and the gripper 114. At the free end the webbing 107 is provided with a male coupling part 120 firmly connected therewith.
  • the pressing mechanism 119 and the coupling part 120 will be explained below in more detail.
  • Fig. 3 shows, in four steps, a method according to the invention for mooring a ship 101 along a mooring installation, such as a quay 115, by means of manipulators 106.
  • the ship 101 is preferably maneuvered to near the quay 115, at least in such a manner that the ship 101 is within range of the manipulators 106 and is brought to a standstill there.
  • the range of the manipulators 106 can be, e.g., more than 15 m.
  • the articulated arm 110 is then moved out, while the coupling part 120 is put and kept in a desired position by means of the gripper 114.
  • the ship 101 is provided in appropriate positions with female coupling parts 121, which will be explained below in more detail.
  • the manipulator 106 the male coupling part 120 is firmly connected with the female coupling part 121, after which the articulated arm 110 is withdrawn again, and the degrees of movement of the manipulator 106 are released.
  • By winding the webbing 107 on the winch 109 the ship 101 is then drawn to the shore.
  • the ship 101 Since at least two manipulators 106 are used simultaneously, the ship 101, with its longitudinal axis L parallel to the quay 115, can be pulled straight to the quay 115, thus resulting in a very favorable direction of pulling.
  • the ship 101 can be connected at the side facing away from the quay 115 with one or more tugboats 102, as shown in Fig. 2, which can stop the ship 101.
  • these tugboats 102 can be provided with manipulators which correspond to the manipulators 106 placed on the quay 115, but the tugboats can also be designed, e.g., as the tugboat 2 shown in Fig. 1.
  • a ship 101 With the method shown in Fig. 3, a ship 101 can be rapidly and accurately moored in a very safe way, for which relatively simple, thin and light chains, webbings and cables can be used, since the direction of pulling is very favorable.
  • the pressing mechanism 119 serves to take up a large part of the forces exerted on the webbing 107, guide the webbing 107, and adjust a constant tension in the webbing 107.
  • the pressing mechanism comprises a number of running rollers 122 through which the webbing 107 is passed.
  • the position of the running rollers 122 is selected to have them exert an adjustable frictional force on the webbing. This frictional force can be adjusted by means of the adjusting mechanism 126, because it brings the running rollers 122 closer to or even farther from each other.
  • the connecting element extends directly from the coiling reel in the direction of the ship to be towed or moored.
  • the complete pulling force exerted on the connecting element is then transferred directly to that coiling reel, which has the result that it must be of a very robust construction.
  • the force exerted on the reel spindle highly depends on the diameter of the reel and the quantity of connecting element wound on the reel. According as the connecting element wound on the reel gives a larger layer thickness, the moment exerted on the reel increases. Apart from a strongly increasing load on the winch, this has the additional drawback that complicated constructions are necessary to maintain a constant tension in the connecting element.
  • the coiling reels of the conventionally used winches are of broad and relatively thick construction and the connecting element is wound in layers, each layer consisting of several juxtaposed windings of connecting element.
  • This has the additional drawbacks that upon winding of the connecting element special measures must be taken to wind the connecting element neatly and that upon unwinding of the connecting element the direction of pulling repeatedly changes, and moreover, the risk of chafing of the connecting element is considerably increased.
  • the greater part of the tensile force in the webbing 107 is taken up by the running rollers 122.
  • the coiling reel 123 of the winch 109 only serves to wind up and deliver the webbing 107 and is composed of a thin spindle 124 provided with two parallel side flanges 125 disposed at a mutual distance corresponding to the width of the webbing 107 to be wound. Therefore, upon winding of the webbing 107 a number of layers, each consisting of only one webbing 107, are formed between the side flanges. Due to the running rollers 122, the thickness of the wound quantity of webbing 107 does not affect the load on the winch.
  • the small width of the coiling reel 123 has the advantage that the winch can be simply installed, and moreover, that the webbing, seen from the top side, always extends at the same angle from the coiling reel. Consequently, chafing of the webbing is readily prevented.
  • the pressing mechanism 119 is described above as a mechanism comprising a number of running rollers 122 and an adjusting mechanism 126.
  • a mechanism comprising a number of running rollers 122 and an adjusting mechanism 126.
  • other variants are also possible for the adjustment of this tension, e.g. frictional blocks or, when using a chain as connecting element, braked chain sprockets.
  • the running rollers can be put in different positions and another number of running rollers can be used with the same effect.
  • the gripper can cover an area located within a segment of spherical segment which is determined by the angle of rotation of the table 111 (e.g. 360°), the length of the fully stretched articulated arm 110 (e.g. 20 m), the maximum angle at which the lowermost arm portion 113 can be inclined to the foot part 117 (e.g. between 100° upwards and 60° downwards) and the angles at which the gripper arm 118 can be inclined to the uppermost arm portion 113e, and the gripper 114 to the gripper arm 118 (e.g. ⁇ 100° in the horizontal and ⁇ 100° in the vertical plane).
  • the deck 4 of the ship 1, 101 is often considerably higher than the deck 12 of the tugboat 2, 102 or than the quay 115 or comparable mooring installation.
  • the known use of connecting elements results in a very disadvantageous direction of pulling, not only in the horizontal direction but in particular also in the vertical direction. Consequently, the connecting element is loaded more heavily than would be necessary in principle to tow the ship, but moreover, during pulling the relatively low weight of the tugboat as compared with the ship causes the tugboat to be partly drawn from the water, as a result of which the full towing capacity of the tugboat cannot be used optimally without taking additional measures.
  • the ship 101 is provided with a row of female coupling parts 121 at some distance below the deck.
  • these coupling parts 121 cannot be reached from the deck without auxiliaries, which substantially reduces the risk of accidents during fastening and unfastening the connecting elements 107.
  • the female coupling parts 121 are located low and preferably near the waterline of the ship 101, recessed in the skin 127, thus preventing them from being damaged.
  • the female coupling parts 121 are provided around the ship 101 so that connecting elements 107 can be coupled in appropriate positions. With very large ships and such objects of relatively great height located on or in the water and with ships having a rather large difference in draft between loaded and light, the ship is advantageously provided with several rows of superimposed female coupling parts.
  • a simple arithmetic example teaches that when the tugboat is at a distance from the ship equal to the difference of level between the deck 12 of the tugboat 2 and the deck 4 of the ship 1 (e.g. both 12 m) the tension in a connecting element fastened to both decks, which connecting element therefore extends at an angle of approximately 45° located in the vertical plane, is at least 1.4 times as high as in a connecting element which extends in approximately horizontal direction, as shown in Fig. 3.
  • the assembly according to the invention enables easy fastening in case of the connecting element extending almost horizontally, in particular when using the coupling assembly according to the invention, as particularly shown in Figs. 5 - 8.
  • Fig. 5 shows, in front elevation, the female coupling part 121
  • Fig. 6 shows, in cross-sectional top plan view, the female and the male coupling part 121, 120 in coupled condition.
  • the male coupling part 120 consists of a spherical segment shaped part 128 firmly connected to one end of the connecting element 107, the convex outer surface 129 facing towards the connecting element 107.
  • the connecting element can in principle be any type of connecting element.
  • the female coupling part 121 comprises a slot 130, which slot is provided with a first slot portion 131 which is wider than the maximum width of the male part 120, and a second slot portion 132 which is narrower than that maximum width.
  • the first slot portion 131 blends with the top side of the second slot portion 132.
  • the female part 121 further comprises a recess 133 extending behind the slot and having such dimensions that the male part 120 can be freely received therein.
  • the male part 120 is composed of a hollow spherical part 134 which is provided with a central opening 135.
  • the connecting element 107 extends through the opening, over the end of which connecting element 107 a pin part 136 having a central bore is placed from the concave side of the spherical part 134.
  • the pin part has a frusto-conical portion 137 which can be tightly received in the central opening 135 and a flange 138 extending from the wide end of the frusto-conical portion, which flange 138 can abut against the concave inside of of the spherical part 134.
  • the pin part can be connected with the connecting element 107 in many ways, such as welding, pressing or glueing, or can be clamped in the central opening 135 by means of the pin part 136.
  • the spherical part 134 is preferably larger than a semisphere.
  • the female part 121 is composed of a box-shaped shell part 139, preferably mounted with the open side against the inside of a skin 127.
  • the shell part 139 is covered with a plate part 140 which is approximately in the same plane as the skin 127 or part thereof. Consequently, the female part does not project from the ship so as to minimize the risk of damage.
  • the slot 130 is formed into the plate part 140 .
  • the edges of the slot 130 are formed by an anti-chafing/buckling tube 141 welded against the inside of the plate part 140, the curved outer surface 142 of which forms a blending abutting face for the connecting element 107.
  • a leader collar 143 slopes inwards from the anti-chafing/buckling tube 141, which leader collar 143, at the end remote from the anti-chafing/buckling tube 141, connects to a likewise circular abutting tube 144, which is substantially parallel to the anti-chafing/buckling tube 141.
  • the recess 133 which is enclosed between the abutting tube 144 and the back wall 145 of the box-shaped shell part 139, has such dimensions that the male part 120 can move and rotate therein clear of the walls and the abutting edge at least in the longitudinal direction of the slot.
  • the coupling assembly according to the invention can be used as follows.
  • the male part 120 is brought into the recess 133 via the first (upper) slot portion 131, the connecting element 107 extending beyond the slot 130. Then the male part 120 is moved downwards, in such a manner that it is located behind the second slot portion 132 and the connecting element 107 extends through the second slot portion 132. The convex surface 129 of the spherical part 134 then abuts against the side of the abutting tube 144 facing away from the exterior of the ship 1.
  • the connecting element 107 When a force is exerted on the portion of the connecting element 107 extending beyond the ship in the forward, backward or downward directions seen in the direction of the ship, the connecting element is deflected along the curved surface 142 of the anti-chafing/buckling tube 141, thus preventing damage to the connecting element 107 at least substantially.
  • the convex surface 129 of the spherical part 134 then enables slight rotation of the male part 120 within the female part 121, thus preventing buckling of the connecting element 107 at least near the spherical part 134, since the portion of the connecting element located close to the spherical part 134 will always extend parallel to the axis H of the central opening 135 of the spherical part 134, optionally parallel to the leader collar 143.
  • the male part 120 When breaking the connection between the male part 120 and the female part 121, and thus between the ship 101 and the connecting element 107, the male part 120 is moved upwards parallel to the longitudinal direction of the slot 130, until the male part 120 can be drawn from the recess 133 via the first slot portion 131.
  • connection can be broken without haste, then the male part 120 can be easily gripped, e.g. with the gripper 14, 114 of a manipulator 6, 106, or optionally using the hands, and can then be lifted in the recess 133. If, however, the connection must be broken without delay or the female part 121 is in a position which cannot be easily reached, then it is particularly advantageous if the female part 121 is designed as an "active" coupling point, e.g. as shown in Fig. 7.
  • An "active" coupling point means that the male part 120 can be released from the female part 121 mechanically, without it being necessary to grip the male part 120 or the connecting element 107 from outside the recess 133.
  • the female part 121 as shown in Fig. 7, comprises a hydraulic push-out piston 146 partly extending into the recess.
  • the top side 147 of the push-out piston 146 In a first, withdrawn position the top side 147 of the push-out piston 146 is located below the second slot portion 132, so that the spherical part 134, abutting against the top side 147, can be received behind the second slot portion 132.
  • the push-out piston 146 is energized, so that the top side 147 with the spherical part 134 lying thereon is pushed up along the slot 130, until the spherical part 134 lies behind the first slot portion 131 and can be drawn therethrough from the recess 133.
  • the push-out piston is remote-controlled, preferably both from the tugboat 102 or the quay 115 and from the ship 101, thus enabling both the user of the tugboat 102 or quay 115 and the user of the ship 101 to break the coupling in case of emergency or at any other moment.
  • an "active" coupling point enables a connection between sailing ships to be easily and safely broken.
  • the male part 120 is gripped by means of the gripper 14, 114 of a manipulator 6, 106 and brought to near a skin 127, preferably above a female part 121. Then the gripper is moved along the skin towards the female part. As soon as the male part passes the anti-chafing/buckling tube 141, the spherical part 134 will be guided by the leader collar 143 into the recess behind the slot 130, after which the spherical part 134 will be received behind the second slot portion 132 by moving the gripper further down and the connection is made. The male part can then be released, after which the gripper can be withdrawn.
  • This method of making the connection has the advantage that the connection can be easily made in nearly all conditions, in particular because the movements of the gripper relative to the ship are then minimized.
  • Fig. 8 shows an alternative embodiment of the female coupling part 221, in particular suitable for being mounted on a deck of a ship.
  • the slot 230 is open at the top side and substantially has a width smaller than the maximum width of the male part 120.
  • This alternative embodiment of the female part 221 also comprises, in a comparable manner, an anti-chafing/buckling tube 241, a leader collar 243, and an abutting tube 244, which are all connected at the bottom side with a baseplate 250 connected with the deck 204 of a ship.
  • an abutting edge 251 is mounted at the top side of the baseplate 250, which abutting edge 251 extends over a substantial portion of the width of the baseplate 250.
  • the female part 221 is fully open.
  • the male part 120 can be easily brought above the female part 221 and then moved downwards so that the spherical part 134 is located behind the abutting tube 244 and the connecting element 107 extends through the slot 230.
  • the spherical part 134 can then abut against the abutting edge 251 with its back, thus preventing the spherical part 134 from moving in the direction away from the abutting tube 244.
  • the male part 120 can be easily moved away upwards behind the slot.
  • a female part can be easily designed as an "active" coupling point.
  • a push-out cylinder can be used, as shown in in Fig. 7, but besides, the female part may also be tiltably positioned.
  • the slot 230 is then tiltably connected with the deck 204 towards the connecting element, so that the slot 230 can be tilted in a substantially horizontal plane, parallel to the deck 204 projecting therefrom, or farther.
  • the male part 120 can then be withdrawn along the abutting tube 244 in approximately horizontal direction.
  • the manipulator 6, 106 is provided with positioning means 150 (Fig. 3A which can cooperate with manipulator directing means 151, which are arranged near a female part 121.
  • the positioning means 150 e.g. a signal source and receiver
  • the manipulator directing means 151 e.g. a signal reflector
  • the gripper can be positioned relative to the female part 121 independently of the movements of the tug relative to the tow, the movements for coupling preferably being carried out via a control program.
  • coupling of the coupling assembly and thus making a connection between, e.g., a tugboat or a quay and a ship, can be carried out largely or even fully automatically.
  • the positioning and manipulator directing means in a different way, e.g. a transmitter located near the female part and a receiver attached to the manipulator, or e.g., by using positioning coordinates or pattern recognition.
  • the invention is by no means limited to the practical examples given in the description and the drawings.
  • manipulators having more or fewer possibilities of movement
  • the winch for instance, may be designed to receive two or three windings per layer, so that a greater length of webbing can be wound on a coiling reel that is relatively small in cross-section, while largely retaining the above advantages, though.
  • the male part may be connected with the connecting element in a different way, and the female part may have a different shape.
  • a tugboat may be provided with another manipulator or the ship may be equipped therewith, and a mooring installation may be provided with female coupling parts.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
  • Bridges Or Land Bridges (AREA)

Claims (24)

  1. Verfahren zum Manipulieren beim Ziehen eines langgestreckten elastischen Verbindungselements (7,107), z. B. eines Schlepptaus, das an einem Ende ein Kupplungselement (8,120) aufweist und am gegenüberliegenden Ende mit einer Aufwickelvorrichtung (9,109) verbunden ist, wobei zumindest das Kupplungselement (8,120) mindestens eines Verbindungselements (7,107) von einem Manipulator (6,106) zwischen einem als Schlepper bezeichneten Objekt (2,115) und einem als Schleppanhang bezeichneten zu schleppenden Objekt (1) bewegt und an dem Schleppanhang (1,101) befestigt oder von diesem gelöst wird, wobei die Länge des Teils des Verbindungselements (7,107), der zwischen dem Schlepper (2,115) und dem Schleppanhang (1,101) verläuft, von der Aufwickelvorrichtung (9, 109) einstellbar ist,
    dadurch gekennzeichnet, dass das Kupplungselement (8,120) In direktem Kontakt mit dem Manipulator gegriffen und derart manipuliert wird, dass die Bewegung des Kupplungselements (8,120) vom Schlepper (2,115) zum Schleppanhang (1,101) gesteuert und das Kupplungselement (8,120) durch den Manipulator (6,106) an dem Schleppanhang (1,101) befestigt wird, wonach der Manipulator (6,106) von dem Kupplungselement (8,120) weggezogen und in eine zumindest teilweise zurückgezogene Aufbewahrungsposition gebracht wird.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass das Lösen des Kupplungselements (8,120) vom Manipulator gesteuert wird.
  3. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Manipulator (6,106) ferngesteuert, vorzugsweise funkgesteuert ist.
  4. Verfahren nach einem der Ansprüche 1-3, dadurch gekennzeichnet, dass das Kupplungselement (8,120) an dem Schleppanhang (1,101) In einer Position befestigt wird, die für auf einem Deck (4) des Schleppanhangs befindliche Personen ohne Einsatz von Hilfsmitteln nicht erreichbar ist.
  5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Kupplungselement (8,120) nahe der Wasserlinie des Schleppanhangs, vorzugsweise ungefähr auf Höhe des Schleppers (2,115) befestigt ist.
  6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Kupplungselement (8,120) mit dem Manipulator (6,106) in die Nahe einer Seite (127) des Schleppanhangs gebracht wird, wobei ein Teil des Manipulators (6,106) oder des Kupplungselements (8,120) die Seite berührt, wonach der berührende Teil derart entlang der Wand in die Nähe einer Befestigungsstelle (5, 121,221) an dem Schleppanhang gebracht wird, dass ein Teil des Kupplungselements (8,120) in dieser Befestigungsstelle (5,121,221) oder um diese Befestigungsstelle (5,121,221) herum aufgenommen werden kann.
  7. Anordnung aus einem als Schlepper (2,115) bezeichneten Objekt, einem als Schleppanhang (1,101) bezeichneten zu schleppenden Objekt und einem langgestreckten elastischen Verbindungselement (7,107), das an einem Ende ein Kupplungselement (8,120) und am gegenüberliegenden Ende eine Aufwickelvorrichtung (9,109) -aufweist und derart konfiguriert ist, dass eine feste Verbindung zwischen dem Schlepper und dem Schleppanhang entsteht, wobei die Anordnung einen Manipulator (6,106) mit einem Greifelement (14,114) aufweist, das das Kupplungselement (8,120) in direktem Kontakt greifen und zwischen dem Schlepper (2,115) und einem benachbarten Schleppanhang (1,101) derart bewegen kann, dass das Kupplungselement (8,120) durch Manipulieren des Kupplungselements- (8,120) mittels des Manipulators (6,106) zwischen dem Schlepper und dem Schleppanhang bewegber ist,
    dadurch gekennzeichnet, dass der Manipulator (6,106) einen Gelenkarm (10,110) aufweist, der an einem Ende mit dem Greifelement (14,114) versehen Ist, wobei der Gelenkarm unabhängig vom Verbindungselement (7,107) derart zusammenlegbar oder zurückziehbar ist, dass das Kupplungselement (8,120) in direktem Kontakt mit dem Greifelement (14,114) gegriffen und durch Steuerung mittels des Manipulators (6,106) an einer Befestigungseinrichtung (5,121,221) auf oder an dem Schleppanhang (1,101) gekoppelt oder von dieser entkoppelt werden kann, und nach dem Zurückziehen oder Zusammenlegen des Gelenkarms (10,110) nach dem Koppeln des Kupplungselements (8,120) an dem Befestigungselement (5,121,221) durch das Verbindungselement die Verbindung zwischen einem Schlepper und einem Schleppanhang erfolgt, während wahlweise nach dem Einstellen der Länge des Verbindungselements (7,107) durch die Aufwickelvorrichtung (9,109) das Kupplungselement (8,120) nach dem Auseinanderziehen oder Ausfahren des Gelenkarms (10,110) wieder vom Greifelement (14,114) gegriffen werden kann.
  8. Anordnung nach Anspruch 7, dadurch gekennzeichnet, dass der Manipulator (6,106) eine Positioniereinrichtung zum Positionieren des Greifelements (14,114) unabhängig von den Bewegungen des Schleppers relativ zu dem Schleppanhang aufweist, wobei die Einrichtung derart konfiguriert ist, dass sie mit der an dem Schleppenhang befestigten und den Manipulator führenden Einrichtung kooperiert.
  9. Anordnung nach Anspruch 8, dadurch gekennzeichnet, dass die Positioniereinrichtung eine Signalquelle und eine dieser zugeordnete Empfangseinrichtung aufweist, während die den Manipulator führende Einrichtung eine Reflexionseinrichtung zur gerichteten Reflexion der von der Signalquelle ausgesandte Strahlung aufweist, derart, dass auf der Basis eines ausgesandten und empfangenen Signals der Greifer automatisch in die Nähe der Befestigungsstelle am Schleppanhang gebracht werden kann.
  10. Anordnung nach einem der Ansprüche 7-9, dadurch gekennzeichnet, dass der Gelenkarm mindestens eine Anzahl von Teilen aufweist, die teleskopartig relativ zueinander bewegt werden können.
  11. Anordndung nach einem der Ansprüche 7-10, dadurch gekennzeichnet, dass der Manipulator auf einer vorzugsweise im wesentlichen vertikalen Drehachse positioniert ist.
  12. Anordnung nach einem der Ansprüche 7-11, dadurch gekennzeichnet, dass der Manipulator einen Überdruckschutz aufweist, der derart konfiguriert ist, dass er zumindest teilweise mindestens einen Teil des Freiheitsgrads des Manipulators freigibt, wenn eine maximal auf das Greifelement aufzubringende vorbestimmte Kraft überschritten wird.
  13. Anordnung nach einem der Ansprüche 7-12, dadurch gekennzeichnet, dass zumindest beim Einsatz das Verbindungselement mindestens teilweise durch den Manipulator verläuft.
  14. Anordnung nach einem der Ansprüche 7-13, dadurch gekennzeichnet, dass die Aufwickelvorrichtung fest mit dem Manipulator verbunden ist, derart, dass die Aufwickelvorrichtung den Bewegungen des Manipulators um die Drehachse folgt.
  15. Anordnung nach einem der Ansprüche 7-14, die eine Winde aufweist, welche mit einem Einstellmechanismus (119,126) zum Beibehalten einer konstanten Spannung des Verbindungselements während des Einsatzes des Verbindungselements versehen ist, wobei die Spannung einstellbar ist.
  16. Anordnung nach Anspruch 15, dadurch gekennzeichnet, dass die Winde (9,109) eine Aufwickelrolle (125) und eine Anzahl von Laufrollen (119,122) aufweist, wobei das Verbindungselement (7,107) zumindest beim Einsatz von der Aufwickelrolle (125) durch die Laufrollen (119,122) verläuft.
  17. Anordnung nach Anspruch 15 und 16, dadurch gekennzeichnet, dass der Einstellmechanismus (119) die Laufrollen (122) aufweist, die mit einem Pressmechanismus (126) zum Aufbringen einer Reibkraft über die Laufrollen (122) auf das Verbindungselement (7,107) versehen sind, wobei der Pressmechanismus derart einstellbar ist, dass beim Einsatz die Spannung des Verbindungselements von der Menge an auf die Aufwickelrolle gewickelten Verbindungselements unabhängig ist.
  18. Anordnung nach Anspruch 15-17, dadurch gekennzeichnet, dass das Verbindungselement (7,107) ein im wesentlichen flaches gurtförmiges Teil aufweist, wobei die Aufwickelrolle (125) mit zwei Seitenflanschen versehen ist, die in einem Abstand, der ungefähr der Breite des gurtförmigen Teils entspricht, zueinander angeordnet sind.
  19. Kupplungsanordnung zum Einsatz in einem Verfahren nach einem der Ansprüche 1-6 oder zusammen mit einer Anordnung nach einem der Ansprüche 7-18, wobei die Kupplungsanordnung mindestens ein Verbindungselement (7,107) aufweist, das auf einer Seite mit einem Schlepper verbindbar ist,
    dadurch gekennzeichnet, dass das Verbindungselement nahe einem freien Ende mit einem kugelsegmentförmigen vorstehenden Teil (128), dessen konvexe Oberfläche in Richtung auf das Verbindungselement (7,107) zeigt, versehen ist, wobei das vorstehende Teil (120,128) in einem schlitzförmigen aufnehmenden Teil (121) aufgenommen und mit einem anzukoppeinden Schleppanhang fest verbunden werden kann, wobei der Schlitz einen ersten Teil (131) aufweist, der breiter ist, und einen zweiten Teil (132) aufweist, der schmaler ist als die maximale Breite des vorstehenden Teils (120), und der aufnehmende Teil eine Ausnehmung (133) abdeckt, wobei der vorstehende Teil in einer ersten Position frei durch den ersten Teil (132) des Schlitzes (130,230) in die Ausnehmung (133) und aus dieser heraus bewegbar ist, und in einer zweiten Position von den Rändern des Schlitzes (130,230) derart in der Ausnehmung (133) gehalten wird, dass in der zweiten Position des vorstehenden Teils (120) das Befestigungselement (7,107) durch den Schlitz (130,230) verläuft, wobei der vorstehende Teil (120) innerhalb der Ausnehmung (133) leicht gedreht werden kann.
  20. Kupplungsanordnung nach Anspruch 19, dadurch gekennzeichnet, dass der aufnehmende Teil (121) im wesentlichen vertikal verläuft, wobei sich der schmalere zweite Bereich (132) des Schlitzes (130,230) auf der Unterseite befindet.
  21. Kupplungsanordnung nach Anspruch 19 oder 20, dadurch gekennzeichnet, dass eine Einrichtung (146,147) zum mechanischen Freigeben des vorstehenden Teils aus dem aufnehmenden Teil vorgesehen ist.
  22. Kupplungsanordnung nach Anspruch 21, dadurch gekennzeichnet, dass die Freigabeeinrichtung einen vorzugsweise hydraulischen Druckkolben (146) aufweist, der derart konfiguriert ist, dass er den vorstehenden Teil (120) aus der zweiten Position in die erste Position bewegt.
  23. Kupplungsanordnung nach Anspruch 22, dadurch gekennzeichnet, dass die Freigabeeinrichtung mindestens eine Anzahl von den Schlitz (130,230) bildenden Teilen aufweist, die derart angeordnet sind, dass durch ihre Bewegung die Schlitzbreite auf mehr als die maximale Breite des vorstehenden Teils (120) vergrößert werden kann.
  24. Kupplungsanordnung nach Anspruch 21, dadurch gekennzeichnet, dass die Freigabeeinrichtung mindestens den Schlitz (130,230) bildende Kippteile aufweist.
EP95904041A 1993-12-31 1995-01-02 Verfahren zum manipulieren eines verbindungselementes in der schifffahrt Expired - Lifetime EP0767750B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NL9302289 1993-12-31
NL9302289A NL9302289A (nl) 1993-12-31 1993-12-31 Werkwijze voor het in de scheepvaart manipuleren van een verbindingselement.
PCT/NL1995/000002 WO1995018038A1 (en) 1993-12-31 1995-01-02 A method of manipulating a connecting element in shipping

Publications (2)

Publication Number Publication Date
EP0767750A1 EP0767750A1 (de) 1997-04-16
EP0767750B1 true EP0767750B1 (de) 2000-08-16

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EP (1) EP0767750B1 (de)
AU (1) AU1284595A (de)
DE (1) DE69518422D1 (de)
NL (1) NL9302289A (de)
NO (1) NO962777L (de)
WO (1) WO1995018038A1 (de)

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GB2369607B (en) * 2000-12-01 2003-11-12 Billy-Jay Smart Vessel navigation and docking system and method
NO20052433L (no) * 2005-05-20 2006-11-21 Rolls Royce Marine As Kran for handtering av kjettinger, wire, sjakkel, kabelarer, etc om bord pa et fartoy samt verktoy for samme.
KR101198829B1 (ko) * 2010-11-04 2012-11-07 한국과학기술원 선박의 계류 시스템, 이를 이용한 부유체, 이동항구 및 안벽
SE537696C2 (sv) 2012-03-20 2015-09-29 Seaflex Ab Fästanordning för fjädrande element ingående i en fjädrandeenhet i ett förankringssystem samt användande av fästanordningen
NL2010288C2 (en) * 2013-02-12 2014-08-13 Bos & Kalis Baggermaatsch Mooring device.
AU2014302350B2 (en) * 2013-06-27 2018-04-05 Ira NACHEM Watercraft docking systems and methods of their operation
NO341826B1 (en) * 2016-07-25 2018-01-29 Stormlinker As Apparatus for connecting a drifting object to a towing vessel and method for using said apparatus
NO342581B1 (en) * 2017-02-01 2018-06-18 Rolls Royce Marine As Automated transportable mooring unit and a system comprising multiple automated transportable mooring units
NL2022439B1 (en) * 2019-01-24 2020-08-18 Thr Marine B V Mooring line positioning head for placing a mooring line around a bollard and method therefor
NO345183B1 (en) * 2019-03-18 2020-10-26 Macgregor Norway As A vessel having a mooring system for automatic mooring to a bollard and a method for mooring
NO345182B1 (en) * 2019-03-18 2020-10-26 Macgregor Norway As A mooring structure for automatic mooring of a vessel to a quay and a method for mooring
DK180450B1 (en) * 2019-07-15 2021-04-29 Svitzer As A method and device for handling a mooring line
GB2621592A (en) * 2022-08-16 2024-02-21 Submarine Tech Limited System for attaching a vessel and method for doing the same

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GB1395886A (en) * 1971-09-01 1975-05-29 Hydroconic Ltd Docking of ships
DE3031717A1 (de) * 1980-08-22 1982-03-04 LGA Gastechnik GmbH, 5480 Remagen Verfahren und einrichtung zum vertaeuen eines schiffes an einem bauwerk
DE3049235A1 (de) * 1980-12-27 1982-07-29 Hammer, Gero, 2330 Eckernförde Vortrieb zum uebergeben von trossenenden
JPS58136585A (ja) * 1982-02-10 1983-08-13 Hitachi Zosen Corp 係船方法
US4729332A (en) * 1983-12-21 1988-03-08 Nippon Kokan Kabushiki Kaisha Mooring apparatus
US4932700A (en) * 1989-01-18 1990-06-12 Hart Ronald D Mooring line shackle
SE469790B (sv) * 1990-03-26 1993-09-13 Norent Ab Förtöjningssystem mellan en rörlig enhet, t ex ett fartyg och en stationär enhet t ex en kaj

Also Published As

Publication number Publication date
NO962777D0 (no) 1996-07-01
NL9302289A (nl) 1995-07-17
WO1995018038A1 (en) 1995-07-06
NO962777L (no) 1996-08-28
DE69518422D1 (de) 2000-09-21
EP0767750A1 (de) 1997-04-16
AU1284595A (en) 1995-07-17

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