EP2716539A1 - Récipient avec système de transfert de personnes ou de marchandises et un tel système - Google Patents

Récipient avec système de transfert de personnes ou de marchandises et un tel système Download PDF

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Publication number
EP2716539A1
EP2716539A1 EP12187023.2A EP12187023A EP2716539A1 EP 2716539 A1 EP2716539 A1 EP 2716539A1 EP 12187023 A EP12187023 A EP 12187023A EP 2716539 A1 EP2716539 A1 EP 2716539A1
Authority
EP
European Patent Office
Prior art keywords
vessel
platform
compensation
actuators
mass
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12187023.2A
Other languages
German (de)
English (en)
Inventor
Jan Alexander Keuning
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Technische Universiteit Delft
Original Assignee
Technische Universiteit Delft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Technische Universiteit Delft filed Critical Technische Universiteit Delft
Priority to EP12187023.2A priority Critical patent/EP2716539A1/fr
Priority to PCT/EP2013/070515 priority patent/WO2014053528A1/fr
Publication of EP2716539A1 publication Critical patent/EP2716539A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
    • B63B2027/141—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts telescopically extendable

Definitions

  • the present invention relates to a vessel comprising a system for transferring persons or goods from the vessel while subjected to waves and/or swell towards a substantially stationary destination, wherein the system comprises a platform for supporting the persons or goods during transfer, and platform actuators connecting the platform to the vessel and adapted for moving the platform relative to the vessel in such a manner that the platform is maintained spatially in a substantially stationary position.
  • the known system comprises a movable platform, a so called Stewart platform, which is actuated by six piston-cylinder assemblies in response to the motions of the vessel, in such a manner that the platform maintains a (substantially) stationary spatial position, thus a stationary position relative to the stationary destination.
  • the platform may be provided with a gangway, crane or alike.
  • a vessel which is characterized in that the system further comprises at least one compensation mass for at least partially compensating motions of the vessel caused by the activation of the platform actuators and by the resulting motion of the platform relative to the vessel, wherein a compensation actuator couples the at least one compensation mass to the vessel for a movement relative thereto.
  • the compensation actuators compensate the excitations of the vessel caused by the accelerations of the platform and platform actuators, by moving the at least one compensation mass in such a manner that the mentioned excitations are counteracted by opposite excitations.
  • the compensation actuator is adapted for counteracting a rotational motion of the vessel around at least a first axis of rotation.
  • the compensation actuator is adapted for counteracting a rolling and/or pitching movement of the vessel.
  • the at least one compensation mass is adapted to be moved linearly by its compensation actuator(s).
  • the at least one compensation mass may comprise multiple masses, each with dedicated compensation actuator(s).
  • two compensation masses may be provided which are adapted to be moved linearly by their respective compensation actuators substantially in parallel to the longitudinal axis of the vessel and in parallel to transverse axis of the vessel, respectively. These masses may be used primarily to counteract longitudinal and transverse motions of the vessel.
  • both compensation masses are combined into a single mass which is adapted to carry out the linear movements in parallel to the longitudinal axis of the vessel and in parallel to transverse axis of the vessel, respectively.
  • the compensation actuators comprise assemblies of linear guides and linear actuators.
  • other devices for achieving a linear motion of the compensation mass or masses may be used.
  • the compensation actuators are adapted for offering the at least one compensation mass a rotational movement with three degrees of freedom and a linear movement with three degrees of freedom. This offers the compensation mass a full range of movements for compensating nearly all excitations of the vessel.
  • the compensation actuators comprise six linear actuators, such as hydraulic or pneumatic piston cylinder assemblies which each at both ends by means of universal joints are connected to the vessel and the at least one compensation mass, respectively.
  • the compensation actuators comprise six linear actuators, such as hydraulic or pneumatic piston cylinder assemblies which each at both ends by means of universal joints are connected to the vessel and the at least one compensation mass, respectively.
  • such an arrangement will correspond with a known arrangement of actuators used to move the platform.
  • the at least one compensation mass is defined by an auxiliary platform moved by auxiliary platform actuators substantially similar to the platform and platform actuators and adapted to be moved substantially in counter phase to the motion of the platform and platform actuators.
  • the auxiliary platform and auxiliary platform actuators will counteract (and compensate) the excitation caused by the platform and platform actuators.
  • the at least one compensation mass may be located substantially at the same level as and close to the platform and platform actuators.
  • the relative position between those parts then may be optimised with respect to the best compensation of the excitation in view of the most important movement of the vessel (for example rolling in monohull vessels and pitching in multihull vessels).
  • the compensation mass is located below the platform and platform actuators.
  • the compensation mass may comprise an auxiliary platform moved by auxiliary platform actuators substantially similar to the platform and platform actuators; but also other types of a compensation mass are conceivable, for example using linear guides and linear actuators.
  • the vessel further comprises control means for controlling the compensation actuators of the at least one compensation mass adapted to generate control signals for said compensation actuators based upon the movement of the platform.
  • control means for controlling the compensation actuators of the at least one compensation mass adapted to generate control signals for said compensation actuators based upon the movement of the platform.
  • Such an embodiment directly uses the movement of the platform (for example based upon the control signals for its platform actuators) to generate the required control signals for the compensation actuators of the compensation mass.
  • the vessel further comprises control means for controlling the compensation actuators of the at least one compensation mass, which control means comprises sensors for sensing the motion of the vessel and means for generating control signals for said compensation actuators based upon an output of said sensors.
  • control means comprises sensors for sensing the motion of the vessel and means for generating control signals for said compensation actuators based upon an output of said sensors.
  • control means may be adapted to generate control signals for said compensation actuators for counteracting rolling and pitching of the vessel. But also other movements of the vessel (depending on the type of vessel) may be compensated.
  • the present invention relates to a system for transferring persons or goods from a vessel towards a substantially stationary destination for use on a vessel according to the present invention.
  • a system comprises a platform for supporting the persons or goods, and platform actuators adapted for connecting the platform to the vessel and moving the platform relative to the vessel in such a manner that the platform is maintained spatially in a substantially stationary position, and further comprising at least one compensation mass for at least partially compensating motions of the vessel caused by the activation of the platform actuators and by the resulting motion of the platform relative to the vessel, and compensation actuators mountable to the vessel and to the at least one compensation mass for a movement thereof relative to the vessel.
  • FIG 1 only a small part of a vessel 1 is illustrated showing a system for transferring persons or goods from the vessel towards a substantially stationary destination mounted on an upper deck.
  • a system generally comprises a platform 2 for supporting the persons or goods, platform actuators 3 connecting the platform 2 to the vessel 1 and a gangway 4 mounted on the platform 2.
  • the platform actuators 3 (which for example may comprise six fast acting pneumatic or hydraulic piston cylinder assemblies) are adapted for moving the platform 2 relative to the vessel 1 in such a manner that the platform is maintained spatially in a substantially stationary position, notwithstanding a movement of the vessel 1 due to external influences such as, among others, the swell, waves, and wind.
  • the platform 2 may be kept stationary relative to a (substantially) stationary destination (such as, for example an offshore drill rig, offshore wind turbine or another vessel) and persons or goods may be transferred in a safe manner to said stationary destination (for example by means of the gangway 4).
  • such a system further comprises at least one compensation mass for at least partially compensating motions of the vessel 1 caused by the activation of the platform actuators 3 and by the resulting motion of the platform 2 relative to the vessel.
  • auxiliary platform 5 which may or may not be similar to the primary platform 2; it is conceivable, for example, that the auxiliary platform is defined by a mass with the same mass and inertia as the primary platform, but without exactly the same outer appearance; as such a gangway generally will not be present).
  • the compensation actuators are defined by auxiliary platform actuators 6.
  • the compensation actuators 6 preferably comprise six (linear) actuators, such as hydraulic or pneumatic piston cylinder assemblies which each at both ends by means of universal joints 7 are connected to the vessel 1 and to the at least one compensation mass 5, respectively.
  • the auxiliary platform 5 and auxiliary platform actuators 6 are adapted to be moved substantially in counter phase to the motion of the platform 2 and platform actuators 3.
  • the compensation mass may be adapted for counteracting a rotational motion of the vessel 1 around at least a first axis of rotation (for example for counteracting a rolling and/or pitching of the vessel).
  • the compensation actuators 6 are adapted for offering the compensation mass (auxiliary platform) 5 a rotational movement with three degrees of freedom and a linear movement with three degrees of freedom.
  • the compensation mass (auxiliary platform) 5 For compensating the movement of the vessel 1 caused by the forces generated by the system for transporting people from the ship to the stationary platform in general only the rotation around the longitudinal axis of the vessel 1 and/or the rotation around a horizontal axis perpendicular to the longitudinal axis need to be compensated as due to the shape of the vessel 1 that are the only movements that might show increasing oscillations as a result of the forces earlier mentioned.
  • the compensation mass 5 compensates only for rotation around one or two axis it is sufficient to let this compensation mass 5 rotate around one or two axis and linear movements of the compensation mass 5 are not required.
  • the number of compensation actuators can than be reduced to one or two compensation actuators 6 that let the compensation mass 5 oscillate in one or two orthogonal planes respectively.
  • the compensation mass 5 is located immediately below the platform 2 and platform actuators 3 (specifically below the upper deck of the vessel 1), but it is conceivable too that it is located substantially at the same level as (and preferably close to) the platform 2 and platform actuators 3. In a further embodiment, a smaller compensation mass 5 might be located in front or behind the platform 2 or at both sides of platform 2.
  • the system further may comprise control means (not illustrated) for controlling the compensation actuators 6 of the compensation mass 5, adapted to generate control signals for said compensation actuators 6 based upon the movement of the platform 2 (and the movement of the platform actuators 3).
  • control means for controlling the compensation actuators 6 of the compensation mass 5
  • additional control means may be provided, also for controlling the compensation actuators 6 of the compensation mass 5.
  • Such additional control means may comprises sensors(not illustrated) for sensing the motion of the vessel 1 and means for generating control signals for said compensation actuators 6 based upon an output of said sensors.
  • control signals for the compensation actuators 6 may be calculated in such a manner that the compensation mass (auxiliary platform) 5 carries out a movement for in an optimal manner compensating (counteracting) an excitation caused by the movement of the platform 2 at one hand, and an excitation caused by a movement of the vessel 1 at the other hand (which may be caused by the movement of the platform 2 but also by external influences, such as wind, current and waves).
  • control signals for the compensation actuators 6 of the compensation mass 5 are directly derived from the original control signals for the platform actuators 3 (for example having substantially the same magnitude but an opposite sign, depending on the characteristics of the system in general and of the compensation mass in specific).
  • FIG 2 a second embodiment of a vessel with system according to the present invention is illustrated.
  • the upper part of the system (which, basically represents a state of the art system) is similar to the system for transporting people from a ship to a stationary construction located at sea as described before and therefore the description thereof is not repeated.
  • the lower part of the system according to this second embodiment comprises two compensation masses 8,9 which are adapted to be moved linearly by respective compensation actuators 10,11 (for example in parallel to the longitudinal axis of the vessel 1 and in parallel to transverse axis of the vessel, respectively).
  • the compensation actuators 8,9 (which may comprise any type of linear actuators, such as for example cylinder piston assemblies, cable drives, gear racks) are devised for moving the compensation masses 10,11 to and fro, for example along linear guides 12,13 attached stationary to the vessel 1 and located immediately under the upper part of the system, for instance immediately under the upper deck.
  • both compensation masses 8,9 are combined into a single mass which is adapted to carry out linear movements in different directions (for example in parallel to the longitudinal axis of the vessel and in parallel to transverse axis of the vessel, respectively) and, thus, in combination may carry out movements in any other direction (in a plane extending through said two original directions) or even along a curved trajectory, if needed (in said plane).
  • this second embodiment generally is similar to that of the first embodiment (although, because this embodiment only allows the compensation mass or masses to be moved in a more restricted manner, its capability for compensating or counteracting excitations may be less).
  • Control means and sensors may be provided in accordance with the first embodiment.
  • FIG 3 a third embodiment of a vessel with system according to the present invention is illustrated schematically.
  • the figure 3 shows the vessel 1 with a platform 14 mounted on the rear of the vessel.
  • Platform actuators 15 move the platform 14 and maintain the platform 14 in a stationary position while the ship moves in waves and/or swell.
  • the platform 14 can rotate on a turret 18 that is mounted on the deck, that the platform 14 can move in height by changing its inclination and that the length can be adapted as required.
  • transverse compensators 16 are mounted on deck in front and at the rear of the turret 18 and the longitudinal compensators 17 are mounted under the deck. In other embodiments these positions can be different and are dependent on the available space and the required compensation.
  • an actuator 20 can move a mass 19 can move over a rail.
  • the actuator 20 comprises a motor, for instance a hydraulic motor, that drives a gear that engages a rack mounted in the direction of the rail.
  • the actuator 20 and the mass 19 are mounted under a cover 21 to protect them against the environment.
  • the compensation mass may have a mass which differs from the mass of the platform (with or without its actuators) and may be moved in any other appropriate manner, for example as a pendulum with a pendulum arm with specific length by means of three linear actuators positioned around said pendulum arm.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Vibration Prevention Devices (AREA)
EP12187023.2A 2012-10-02 2012-10-02 Récipient avec système de transfert de personnes ou de marchandises et un tel système Withdrawn EP2716539A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP12187023.2A EP2716539A1 (fr) 2012-10-02 2012-10-02 Récipient avec système de transfert de personnes ou de marchandises et un tel système
PCT/EP2013/070515 WO2014053528A1 (fr) 2012-10-02 2013-10-02 Navire avec système de transfert de personnes ou de marchandises

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12187023.2A EP2716539A1 (fr) 2012-10-02 2012-10-02 Récipient avec système de transfert de personnes ou de marchandises et un tel système

Publications (1)

Publication Number Publication Date
EP2716539A1 true EP2716539A1 (fr) 2014-04-09

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EP12187023.2A Withdrawn EP2716539A1 (fr) 2012-10-02 2012-10-02 Récipient avec système de transfert de personnes ou de marchandises et un tel système

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EP (1) EP2716539A1 (fr)
WO (1) WO2014053528A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105966559A (zh) * 2016-06-07 2016-09-28 江苏科技大学 一种具有波浪补偿功能的登靠装置及方法
CN106741662A (zh) * 2017-02-15 2017-05-31 广东精铟海洋工程股份有限公司 一种具有补偿功能的海洋平台舷梯及其使用方法
CN107054571A (zh) * 2016-12-23 2017-08-18 湖北华舟重工应急装备股份有限公司 三自由度波浪补偿登乘栈桥
CN108545149A (zh) * 2018-03-30 2018-09-18 华中科技大学 一种串联式船用升降补偿装置
CN111959704A (zh) * 2020-08-20 2020-11-20 浙江大学 海洋渔获物船载加工设备海浪补偿系统
CN112360217A (zh) * 2020-11-16 2021-02-12 南京大学 一种环形与三角形嵌套的动态机械结构轻型景观塔
CN112885042A (zh) * 2021-01-26 2021-06-01 自然资源部第二海洋研究所 水面溢油监测预警装置及方法
CN112937772A (zh) * 2021-03-11 2021-06-11 江苏弘竣海洋科技有限公司 一种波浪补偿舷梯用人员随动平台
CN115042914A (zh) * 2022-07-01 2022-09-13 东方空间技术(北京)有限公司 波浪补偿调节船及其波浪补偿方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108454789A (zh) * 2018-04-10 2018-08-28 上海勘测设计研究院有限公司 海洋平台登乘装置

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GB360259A (en) * 1929-12-27 1931-11-05 Paul Nicolas Lucas Girardville Improvements in or relating to aircraft carrying vessels
US3460501A (en) * 1967-01-03 1969-08-12 Pan American Petroleum Corp Stabilizing a floating vessel
JPH1029592A (ja) * 1996-07-15 1998-02-03 Penta Ocean Constr Co Ltd 浮体減揺装置
WO2007120039A1 (fr) 2006-03-01 2007-10-25 Technische Universiteit Delft Navire, plate-forme de mouvement, méthode de compensation des mouvements d'un navire et utilisation d'une plate-forme de stewart
GB2440520A (en) * 2006-08-03 2008-02-06 Liam Clear Motion Compensated Aircraft Platform
NL1036132C (nl) * 2008-10-30 2010-05-04 Terrazzo Art Fidelity Zeilboot en werkwijze voor het besturen van een zeilboot.
GB2474374A (en) * 2010-11-22 2011-04-13 Brynmor Winston Phillips Vessel with a motion-compensated platform for transferring personnel or equipment
WO2012021062A1 (fr) * 2010-08-13 2012-02-16 Ampelmann Operations B.V. Navire, plateforme de mouvements, système de commande, procédé de compensation de mouvements d'un navire et produit programme d'ordinateur

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU91809B1 (en) * 2011-04-20 2012-10-22 Vincent De Troz Mobile ballast device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB360259A (en) * 1929-12-27 1931-11-05 Paul Nicolas Lucas Girardville Improvements in or relating to aircraft carrying vessels
US3460501A (en) * 1967-01-03 1969-08-12 Pan American Petroleum Corp Stabilizing a floating vessel
JPH1029592A (ja) * 1996-07-15 1998-02-03 Penta Ocean Constr Co Ltd 浮体減揺装置
WO2007120039A1 (fr) 2006-03-01 2007-10-25 Technische Universiteit Delft Navire, plate-forme de mouvement, méthode de compensation des mouvements d'un navire et utilisation d'une plate-forme de stewart
GB2440520A (en) * 2006-08-03 2008-02-06 Liam Clear Motion Compensated Aircraft Platform
NL1036132C (nl) * 2008-10-30 2010-05-04 Terrazzo Art Fidelity Zeilboot en werkwijze voor het besturen van een zeilboot.
WO2012021062A1 (fr) * 2010-08-13 2012-02-16 Ampelmann Operations B.V. Navire, plateforme de mouvements, système de commande, procédé de compensation de mouvements d'un navire et produit programme d'ordinateur
GB2474374A (en) * 2010-11-22 2011-04-13 Brynmor Winston Phillips Vessel with a motion-compensated platform for transferring personnel or equipment

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105966559A (zh) * 2016-06-07 2016-09-28 江苏科技大学 一种具有波浪补偿功能的登靠装置及方法
CN107054571A (zh) * 2016-12-23 2017-08-18 湖北华舟重工应急装备股份有限公司 三自由度波浪补偿登乘栈桥
CN106741662A (zh) * 2017-02-15 2017-05-31 广东精铟海洋工程股份有限公司 一种具有补偿功能的海洋平台舷梯及其使用方法
CN106741662B (zh) * 2017-02-15 2019-12-06 广东精铟海洋工程股份有限公司 一种具有补偿功能的海洋平台舷梯及其使用方法
CN108545149A (zh) * 2018-03-30 2018-09-18 华中科技大学 一种串联式船用升降补偿装置
CN108545149B (zh) * 2018-03-30 2019-09-13 华中科技大学 一种串联式船用升降补偿装置
CN111959704A (zh) * 2020-08-20 2020-11-20 浙江大学 海洋渔获物船载加工设备海浪补偿系统
CN112360217A (zh) * 2020-11-16 2021-02-12 南京大学 一种环形与三角形嵌套的动态机械结构轻型景观塔
CN112885042A (zh) * 2021-01-26 2021-06-01 自然资源部第二海洋研究所 水面溢油监测预警装置及方法
CN112937772A (zh) * 2021-03-11 2021-06-11 江苏弘竣海洋科技有限公司 一种波浪补偿舷梯用人员随动平台
CN115042914A (zh) * 2022-07-01 2022-09-13 东方空间技术(北京)有限公司 波浪补偿调节船及其波浪补偿方法

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